diff --git a/rc-table30-v2__rc-aloha/000000/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v2__rc-aloha/000000/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..3c4503a3a8d2c5c7c49518cbd5dbce39635ee293
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000000/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
@@ -0,0 +1,308 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-aloha/000000/temporal.json b/rc-table30-v2__rc-aloha/000000/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc1ed18293124aa7dfa7a42622038c4fa44d2aa3
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000000/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.004692436195909977, -0.015804264694452286, 0.1137697696685791, 0.03272494301199913, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, -0.006558944005519152, 0.11823543161153793, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.004692436195909977, -0.015804264694452286, 0.1137697696685791, 0.03272494301199913, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, -0.006558944005519152, 0.11823543161153793, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.004692436195909977, -0.015804264694452286, 0.1137697696685791, 0.03272494301199913, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, -0.006558944005519152, 0.11823543161153793, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.004692436195909977, -0.015804264694452286, 0.1137697696685791, 0.03272494301199913, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, -0.006558944005519152, 0.11823543161153793, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.004692436195909977, -0.015804264694452286, 0.1137697696685791, 0.03272494301199913, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, -0.006558944005519152, 0.11823543161153793, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.004692436195909977, -0.015804264694452286, 0.1137697696685791, 0.03272494301199913, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, -0.006558944005519152, 0.11823543161153793, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.004692436195909977, -0.015804264694452286, 0.1137697696685791, 0.03272494301199913, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, -0.006558944005519152, 0.11823543161153793, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.004692436195909977, -0.015804264694452286, 0.1137697696685791, 0.03272494301199913, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, -0.006558944005519152, 0.11083917319774628, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.004692436195909977, -0.020688584074378014, 0.1075073704123497, 0.03272494301199913, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, -0.006558944005519152, 0.10023322701454163, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.004692436195909977, -0.07152040302753448, 0.09198221564292908, 0.008826663717627525, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, -0.006558944005519152, 0.08137626200914383, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.003052700078114867, -0.16350261867046356, 0.049401406198740005, -0.019484948366880417, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, -0.006558944005519152, 0.05534981191158295, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.003052700078114867, -0.2870584726333618, 0.01664157584309578, -0.03043977916240692, 0.0, -0.0, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, 0.005704187788069248, 0.01890929602086544, 0.025991560891270638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.003052700078114867, -0.3580380976200104, 0.010134964250028133, -0.034260015934705734, 9.999999747378752e-05, -9.999999747378752e-05, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, 0.010919944383203983, -0.02588689513504505, 0.03738249093294144, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.003052700078114867, -0.3791104555130005, 0.008617335930466652, -0.03663240000605583, 0.0032500000670552254, -0.0032500000670552254, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, 0.015472828410565853, -0.052454106509685516, 0.0761081725358963, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.003052700078114867, -0.3820410370826721, 0.021682891994714737, -0.03663240000605583, 0.010950000025331974, -0.010950000025331974, 0.008111460134387016, 0.004919208120554686, -0.004483107943087816, 0.016903236508369446, -0.07336946576833725, 0.10333825647830963, 0.0010499999625608325, -0.0010499999625608325, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.006576388143002987, -0.04204003885388374, -0.3800349831581116, 0.0729682520031929, -0.03663240000605583, 0.020899999886751175, -0.020899999886751175, 0.008111460134387016, 0.004919208120554686, -0.01836853288114071, 0.017792880535125732, -0.08442895859479904, 0.12915538251399994, 0.008100000210106373, -0.008100000210106373, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.0376790389418602, -0.1082574650645256, -0.3800349831581116, 0.12650388479232788, -0.03663240000605583, 0.0239499993622303, -0.0239499993622303, 0.008111460134387016, 0.03115498460829258, -0.0973375216126442, -0.02653232403099537, -0.07624772191047668, 0.13717961311340332, 0.020349999889731407, -0.020349999889731407, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.1412789523601532, -0.19629733264446259, -0.35918939113616943, 0.20515888929367065, 0.0, 0.0239499993622303, -0.0239499993622303, 0.008111460134387016, 0.09669209271669388, -0.21534618735313416, -0.08837130665779114, 0.0, 0.13717961311340332, 0.027149999514222145, -0.027149999514222145, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.2895355224609375, -0.3060200810432434, -0.3254701495170593, 0.30504322052001953, 0.06389737129211426, 0.023150000721216202, -0.023150000721216202, 0.008111460134387016, 0.21846865117549896, -0.34183263778686523, -0.13911589980125427, 0.15896716713905334, 0.13717961311340332, 0.02590000070631504, -0.02590000070631504, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.4827975928783417, -0.4432869255542755, -0.30005425214767456, 0.45563727617263794, 0.13697028160095215, 0.02070000022649765, -0.02070000022649765, 0.008111460134387016, 0.39109447598457336, -0.4496539831161499, -0.15969982743263245, 0.33171510696411133, 0.1303590089082718, 0.02484999969601631, -0.02484999969601631, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.6922651529312134, -0.5655344724655151, -0.29722830653190613, 0.6300947070121765, 0.21002575755119324, 0.016750000417232513, -0.016750000417232513, 0.008111460134387016, 0.6019052267074585, -0.549102246761322, -0.16390381753444672, 0.4717904329299927, 0.12207311391830444, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022624868899583817, 0.8865389823913574, -0.6487423777580261, -0.3546016216278076, 0.6700589060783386, 0.23900024592876434, 0.012849999591708183, -0.012849999591708183, 0.008111460134387016, 0.7758393287658691, -0.6216692924499512, -0.1498439610004425, 0.508544921875, 0.12390473484992981, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.014129639603197575, 1.0302077531814575, -0.7024000883102417, -0.4134402573108673, 0.6673725247383118, 0.30399659276008606, 0.012350000441074371, -0.012350000441074371, 0.008111460134387016, 0.9238865971565247, -0.6724487543106079, -0.11717134714126587, 0.5067830681800842, 0.09030758589506149, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04176093637943268, 1.1446927785873413, -0.770641028881073, -0.44700250029563904, 0.7220420241355896, 0.3898908495903015, 0.012350000441074371, -0.012350000441074371, 0.041621383279561996, 1.061519742012024, -0.718849778175354, 0.00678571593016386, 0.5387928485870361, -0.034033242613077164, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.15415263175964355, 1.2421000003814697, -0.8441326022148132, -0.39292609691619873, 0.7872477173805237, 0.34469345211982727, 0.012350000441074371, -0.012350000441074371, 0.12357329577207565, 1.156502366065979, -0.7669603228569031, 0.08055639266967773, 0.5787919163703918, -0.10461166501045227, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.29707130789756775, 1.3273837566375732, -0.9023083448410034, -0.2141425460577011, 0.8236533403396606, 0.15167558193206787, 0.012450000271201134, -0.012450000271201134, 0.22499270737171173, 1.2247432470321655, -0.80324387550354, 0.08449873328208923, 0.5999165773391724, -0.08974938094615936, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.39842095971107483, 1.406823754310608, -0.916472852230072, -0.03893500939011574, 0.8480575084686279, -0.045319512486457825, 0.018050000071525574, -0.018050000071525574, 0.2904251515865326, 1.2713885307312012, -0.8170769810676575, 0.08245778828859329, 0.6060568690299988, -0.04913974925875664, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4427810609340668, 1.4831761121749878, -0.917990505695343, 0.04833732545375824, 0.8529592752456665, -0.17766714096069336, 0.027249999344348907, -0.027249999344348907, 0.3264470100402832, 1.2917979955673218, -0.8186469078063965, 0.08245778828859329, 0.6082373857498169, -0.029567580670118332, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4494795501232147, 1.5401482582092285, -0.9186533689498901, 0.06387992948293686, 0.8529592752456665, -0.26788750290870667, 0.029400000348687172, -0.029400000348687172, 0.3364947736263275, 1.2967694997787476, -0.8210192918777466, 0.08245778828859329, 0.6082373857498169, -0.020043155178427696, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.45139840245246887, 1.5794146060943604, -0.9186533689498901, 0.06518822908401489, 0.8506740927696228, -0.3085145950317383, 0.02785000018775463, -0.02785000018775463, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.6040508151054382, -0.01624036394059658, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.6200940608978271, -0.9203454256057739, 0.04367977753281593, 0.8432604074478149, -0.323150098323822, 0.02694999985396862, -0.02694999985396862, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5955207347869873, -0.016118256375193596, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.651772379875183, -0.9203454256057739, 0.030893323943018913, 0.8286423087120056, -0.3289763927459717, 0.026850000023841858, -0.026850000023841858, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5915434956550598, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.680938720703125, -0.9203454256057739, 0.025834564119577408, 0.8129950761795044, -0.3289763927459717, 0.026850000023841858, -0.026850000023841858, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5877755880355835, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7062673568725586, -0.9203454256057739, 0.025014696642756462, 0.797714114189148, -0.3289763927459717, 0.026850000023841858, -0.026850000023841858, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5877755880355835, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7237986326217651, -0.9203454256057739, 0.025014696642756462, 0.7918006181716919, -0.3289763927459717, 0.026850000023841858, -0.026850000023841858, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5877755880355835, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7279503345489502, -0.9207815527915955, 0.021473564207553864, 0.7891665697097778, -0.3304591476917267, 0.026850000023841858, -0.026850000023841858, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5877755880355835, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7307413816452026, -0.9207815527915955, 0.014164527878165245, 0.7891665697097778, -0.3310522437095642, 0.026850000023841858, -0.026850000023841858, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5877755880355835, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7307413816452026, -0.9207815527915955, 0.009472091682255268, 0.7891665697097778, -0.3332676291465759, 0.023800000548362732, -0.023800000548362732, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5877755880355835, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7324334383010864, -0.9207815527915955, 0.005861184094101191, 0.7891665697097778, -0.3332676291465759, 0.013799999840557575, -0.013799999840557575, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5877755880355835, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7324334383010864, -0.9207815527915955, 0.0, 0.7891665697097778, -0.3332676291465759, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5877755880355835, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7324334383010864, -0.9207815527915955, 0.0, 0.7891665697097778, -0.3332676291465759, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5877755880355835, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7324334383010864, -0.9207815527915955, 0.0, 0.7891665697097778, -0.3290287256240845, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5877755880355835, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7324334383010864, -0.9227004051208496, 0.0, 0.7891665697097778, -0.32611557841300964, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5877755880355835, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7130357027053833, -0.9312130808830261, 0.0, 0.7927076816558838, -0.32611557841300964, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5873220562934875, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.6619596481323242, -0.9602747559547424, 0.0, 0.822432279586792, -0.32611557841300964, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5873220562934875, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.602859377861023, -0.9916739463806152, 0.0, 0.8718336820602417, -0.3092995584011078, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5856125354766846, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.552010178565979, -1.0019135475158691, 0.0, 0.9008604884147644, -0.29923439025878906, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5836588144302368, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.5267860889434814, -1.0019135475158691, 0.0, 0.9094952940940857, -0.28751200437545776, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5797164440155029, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.5197386741638184, -0.9941858649253845, 0.0, 0.9060413837432861, -0.2659686803817749, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5797164440155029, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.5197386741638184, -0.9613911509513855, 0.0, 0.8788461685180664, -0.23816293478012085, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5797164440155029, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.5197386741638184, -0.9235028028488159, 0.0, 0.8552618622779846, -0.20060600340366364, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08039939403533936, 0.5791233777999878, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.5291584730148315, -0.9028142094612122, 0.009716307744383812, 0.8413240909576416, -0.19048847258090973, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08270200341939926, 0.5772568583488464, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.559179663658142, -0.8988369703292847, 0.02456115186214447, 0.8302646279335022, -0.18626703321933746, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.08899928629398346, 0.5772568583488464, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.599702000617981, -0.8988369703292847, 0.02456115186214447, 0.8169373869895935, -0.18415631353855133, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.091022789478302, 0.5767858624458313, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.6352877616882324, -0.8980171084403992, 0.02456115186214447, 0.7934054732322693, -0.18166181445121765, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.091022789478302, 0.5767858624458313, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.6641052961349487, -0.8980171084403992, 0.02456115186214447, 0.7798689007759094, -0.18166181445121765, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.091022789478302, 0.5767858624458313, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.6940217018127441, -0.8980171084403992, 0.02456115186214447, 0.7662625908851624, -0.18166181445121765, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7155301570892334, -0.8980171084403992, 0.015054171904921532, 0.7432888150215149, -0.18166181445121765, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7285608053207397, -0.8980171084403992, 0.009437204338610172, 0.7415618896484375, -0.18166181445121765, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7386435270309448, -0.8980171084403992, 0.007605583872646093, 0.7415618896484375, -0.18166181445121765, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7457606792449951, -0.9022036790847778, 0.007605583872646093, 0.739294171333313, -0.18166181445121765, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.749685525894165, -0.9038957357406616, 0.007605583872646093, 0.739294171333313, -0.18166181445121765, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.751988172531128, -0.9038957357406616, 0.007605583872646093, 0.737322986125946, -0.1797429770231247, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.751988172531128, -0.9038957357406616, 0.007605583872646093, 0.737322986125946, -0.1797429770231247, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.751988172531128, -0.8978950381278992, 0.007605583872646093, 0.7313048243522644, -0.17777180671691895, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.751988172531128, -0.889923095703125, 0.007605583872646093, 0.7253040671348572, -0.17328870296478271, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.751988172531128, -0.8883705735206604, 0.007605583872646093, 0.7228444814682007, -0.17328870296478271, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.751988172531128, -0.8883705735206604, 0.006122843828052282, 0.7228444814682007, -0.17328870296478271, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.751988172531128, -0.8883705735206604, 0.006122843828052282, 0.7228444814682007, -0.1718757301568985, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7417136430740356, -0.8925920128822327, 0.0, 0.7249203324317932, -0.1718757301568985, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02474999986588955, -0.02474999986588955, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.7134194374084473, -0.9120595455169678, 0.0, 0.7597036361694336, -0.1718757301568985, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.5750240087509155, -0.012489903718233109, 0.02329999953508377, -0.02329999953508377, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.644201636314392, -0.9646357297897339, 0.0, 0.8056162595748901, -0.1718757301568985, 0.0, -0.0, 0.3364947736263275, 1.298531413078308, -0.8210192918777466, 0.0933602899312973, 0.560528039932251, -0.012489903718233109, 0.01205000001937151, -0.01205000001937151, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.5618834495544434, -1.0246779918670654, 0.0, 0.8336836695671082, -0.1718757301568985, 0.0, -0.0, 0.3364947736263275, 1.3006072044372559, -0.8304390907287598, 0.0933602899312973, 0.5513350367546082, -0.012489903718233109, 0.0002500000118743628, -0.0002500000118743628, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4904851913452148, -1.0594264268875122, 0.006122843828052282, 0.8206704258918762, -0.1718757301568985, 0.0, -0.0, 0.3364947736263275, 1.3351812362670898, -0.8768924474716187, 0.09506980329751968, 0.5716572999954224, -0.012489903718233109, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4442062377929688, -1.0652352571487427, 0.013309772126376629, 0.7660009264945984, -0.1718757301568985, 0.0, -0.0, 0.3364947736263275, 1.418790340423584, -0.9623331427574158, 0.09506980329751968, 0.6128949522972107, -0.029393140226602554, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4280705451965332, -1.0643107891082764, 0.015211167745292187, 0.7422247529029846, -0.15258267521858215, 0.0, -0.0, 0.3364947736263275, 1.5318971872329712, -1.067049503326416, 0.09506980329751968, 0.6613194942474365, -0.0565185584127903, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4265354871749878, -1.0643107891082764, 0.017199784517288208, 0.7402012348175049, -0.12585845589637756, 0.0, -0.0, 0.3364947736263275, 1.666163682937622, -1.1722891330718994, 0.09506980329751968, 0.712221086025238, -0.09187754988670349, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4265354871749878, -1.0643107891082764, 0.017199784517288208, 0.7402012348175049, -0.11663058400154114, 0.0, -0.0, 0.3364947736263275, 1.7903474569320679, -1.2762902975082397, 0.09723285585641861, 0.7644309401512146, -0.1280040740966797, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4265354871749878, -1.0643107891082764, 0.017199784517288208, 0.7402012348175049, -0.11647358536720276, 0.0, -0.0, 0.3129976987838745, 1.9089666604995728, -1.3806228637695312, 0.13977877795696259, 0.8163268566131592, -0.16665998101234436, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4265354871749878, -1.0643107891082764, 0.017199784517288208, 0.7402012348175049, -0.11647358536720276, 0.0, -0.0, 0.2675386369228363, 2.0186197757720947, -1.4549691677093506, 0.2532694339752197, 0.8591867685317993, -0.2394712269306183, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4265354871749878, -1.0643107891082764, 0.017199784517288208, 0.7402012348175049, -0.10975764691829681, 0.0, -0.0, 0.22968514263629913, 2.0990889072418213, -1.5065510272979736, 0.3615269064903259, 0.900633692741394, -0.3155445158481598, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4265354871749878, -1.0643107891082764, 0.013292328454554081, 0.7402012348175049, -0.10899011045694351, 0.0, -0.0, 0.22157368063926697, 2.156723737716675, -1.5326298475265503, 0.39282143115997314, 0.9180777072906494, -0.34008821845054626, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4265354871749878, -1.0643107891082764, 0.013292328454554081, 0.7402012348175049, -0.10899011045694351, 0.0, -0.0, 0.22157368063926697, 2.1979613304138184, -1.5361186265945435, 0.40623587369918823, 0.9238168001174927, -0.3486183285713196, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4265354871749878, -1.0643107891082764, 0.013292328454554081, 0.7402012348175049, -0.10899011045694351, 0.0, -0.0, 0.22157368063926697, 2.232361078262329, -1.5383166074752808, 0.412759929895401, 0.9255088567733765, -0.3486183285713196, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4265354871749878, -1.0643107891082764, 0.0, 0.7402012348175049, -0.10340803116559982, 0.0, -0.0, 0.22157368063926697, 2.245269536972046, -1.539781928062439, 0.41855132579803467, 0.9255088567733765, -0.3486183285713196, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4265354871749878, -1.0643107891082764, 0.0, 0.7402012348175049, -0.09430226683616638, 0.0, -0.0, 0.22157368063926697, 2.2460546493530273, -1.542136788368225, 0.41855132579803467, 0.9277242422103882, -0.35113027691841125, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4265354871749878, -1.0643107891082764, 0.0, 0.7452949285507202, -0.07577673345804214, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.9277242422103882, -0.35113027691841125, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453474223613739, 1.4308266639709473, -1.075126051902771, -0.007134595885872841, 0.7780721783638, -0.008198680356144905, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.9277242422103882, -0.35113027691841125, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.46027737855911255, 1.4616327285766602, -1.1292548179626465, -0.06408925354480743, 0.8310496211051941, 0.16934634745121002, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.9277242422103882, -0.35163614153862, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.502177894115448, 1.525774359703064, -1.2163177728652954, -0.15818218886852264, 0.8889811038970947, 0.3601662814617157, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.9277242422103882, -0.35360732674598694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5763846635818481, 1.6364041566848755, -1.3115445375442505, -0.21529385447502136, 0.97267746925354, 0.5065214037895203, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.925875186920166, -0.35360732674598694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6625405550003052, 1.75395929813385, -1.3870770931243896, -0.22541137039661407, 1.014543056488037, 0.611865758895874, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.925875186920166, -0.35360732674598694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7533889412879944, 1.8483662605285645, -1.4204998016357422, -0.20826391875743866, 1.0077399015426636, 0.6476085186004639, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.925875186920166, -0.35360732674598694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8435395359992981, 1.9341907501220703, -1.4250003099441528, -0.1819758117198944, 0.9714563488960266, 0.676077127456665, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.925875186920166, -0.35360732674598694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8743805289268494, 1.979056715965271, -1.4266924858093262, -0.1782427877187729, 0.9538204669952393, 0.703010618686676, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.925875186920166, -0.35360732674598694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8814453482627869, 2.012880563735962, -1.4266924858093262, -0.1938202828168869, 0.9410514831542969, 0.7227049469947815, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.925875186920166, -0.35360732674598694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8814453482627869, 2.037825584411621, -1.4391474723815918, -0.2157473862171173, 0.9238691329956055, 0.7406024932861328, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.925875186920166, -0.35360732674598694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8814453482627869, 2.0592989921569824, -1.4747157096862793, -0.24154706299304962, 0.9185661673545837, 0.7433760762214661, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.9239563345909119, -0.35360732674598694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8836258053779602, 2.0817320346832275, -1.5070395469665527, -0.24814090132713318, 0.9185661673545837, 0.7450157999992371, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.9239563345909119, -0.3540957570075989, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8836258053779602, 2.09793758392334, -1.5230705738067627, -0.25302523374557495, 0.9185661673545837, 0.7450157999992371, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.9219502806663513, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8836258053779602, 2.104252338409424, -1.524396300315857, -0.25302523374557495, 0.9203105568885803, 0.7472835183143616, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.9219502806663513, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8836258053779602, 2.104252338409424, -1.524396300315857, -0.25302523374557495, 0.9223514795303345, 0.7658962607383728, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.41855132579803467, 0.9200314283370972, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8836258053779602, 2.104252338409424, -1.524396300315857, -0.24842000007629395, 0.9223514795303345, 0.7728738784790039, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4204701781272888, 0.9200314283370972, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8836258053779602, 2.106153726577759, -1.524396300315857, -0.23505790531635284, 0.9223514795303345, 0.7727517485618591, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4204701781272888, 0.9200314283370972, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8836258053779602, 2.1158175468444824, -1.524396300315857, -0.2306096851825714, 0.924427330493927, 0.7727517485618591, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9180253744125366, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8888939023017883, 2.127854108810425, -1.524396300315857, -0.21880009770393372, 0.9287883639335632, 0.7727517485618591, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9180253744125366, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9014884829521179, 2.1322848796844482, -1.5252336263656616, -0.20416457951068878, 0.9311432838439941, 0.7727517485618591, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9140307307243347, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9135946035385132, 2.1322848796844482, -1.5252336263656616, -0.20416457951068878, 0.933951735496521, 0.762302815914154, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9119897484779358, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.1322848796844482, -1.5252336263656616, -0.20416457951068878, 0.9378069043159485, 0.759860634803772, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9099488258361816, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.1322848796844482, -1.5292980670928955, -0.20416457951068878, 0.9378069043159485, 0.75670325756073, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9058843851089478, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.1322848796844482, -1.5300655364990234, -0.20416457951068878, 0.9378069043159485, 0.75670325756073, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9060064554214478, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.1366806030273438, -1.5300655364990234, -0.20416457951068878, 0.9378069043159485, 0.75670325756073, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9055354595184326, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.147740125656128, -1.5336765050888062, -0.20416457951068878, 0.9358531832695007, 0.7550112009048462, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.903668999671936, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.1590263843536377, -1.536345362663269, -0.2149798572063446, 0.9358531832695007, 0.7550112009048462, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.161381483078003, -1.5380200147628784, -0.22068403661251068, 0.9377719759941101, 0.7550112009048462, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.163649082183838, -1.5402005910873413, -0.22068403661251068, 0.9413131475448608, 0.7550112009048462, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.1658644676208496, -1.5418751239776611, -0.22068403661251068, 0.943354070186615, 0.7550112009048462, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.17191743850708, -1.5465675592422485, -0.22159112989902496, 0.9480465054512024, 0.7550112009048462, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.1775693893432617, -1.5507715940475464, -0.22567303478717804, 0.952878475189209, 0.7550112009048462, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.1793835163116455, -1.552777647972107, -0.22567303478717804, 0.9565766453742981, 0.7550112009048462, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.1793835163116455, -1.552777647972107, -0.22567303478717804, 0.9597514271736145, 0.7634890079498291, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.1793835163116455, -1.552777647972107, -0.22567303478717804, 0.9597514271736145, 0.770309567451477, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9153041243553162, 2.1814942359924316, -1.552777647972107, -0.22567303478717804, 0.9597514271736145, 0.770309567451477, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1832213401794434, -1.552777647972107, -0.22225400805473328, 0.9597514271736145, 0.770309567451477, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1832213401794434, -1.552777647972107, -0.21998628973960876, 0.9597514271736145, 0.770309567451477, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1832213401794434, -1.552777647972107, -0.21998628973960876, 0.9597514271736145, 0.770309567451477, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1872334480285645, -1.552777647972107, -0.21998628973960876, 0.9606934189796448, 0.7662625908851624, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1892917156219482, -1.5537196397781372, -0.21998628973960876, 0.9624552726745605, 0.7641170024871826, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1907222270965576, -1.5537196397781372, -0.21998628973960876, 0.9624552726745605, 0.7623202204704285, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1907222270965576, -1.541404128074646, -0.22176557779312134, 0.9510294198989868, 0.7623202204704285, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1907222270965576, -1.5369036197662354, -0.2236320823431015, 0.9458311200141907, 0.7623202204704285, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1907222270965576, -1.5369036197662354, -0.22551603615283966, 0.9441913962364197, 0.7623202204704285, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1907222270965576, -1.5369036197662354, -0.22551603615283966, 0.9434762001037598, 0.7602269649505615, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1907222270965576, -1.5369036197662354, -0.22551603615283966, 0.9417318105697632, 0.7602269649505615, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1907222270965576, -1.5369036197662354, -0.22551603615283966, 0.9417318105697632, 0.7602269649505615, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1907222270965576, -1.5363976955413818, -0.22551603615283966, 0.9392024278640747, 0.7602269649505615, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1907222270965576, -1.5363976955413818, -0.22551603615283966, 0.9392024278640747, 0.7602269649505615, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1907222270965576, -1.5347405672073364, -0.22551603615283966, 0.9392024278640747, 0.7602269649505615, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1913328170776367, -1.5347405672073364, -0.22551603615283966, 0.9392024278640747, 0.7602269649505615, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1913328170776367, -1.5347405672073364, -0.22551603615283966, 0.9383999705314636, 0.7602269649505615, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9173625111579895, 2.1913328170776367, -1.5347405672073364, -0.22551603615283966, 0.9367079138755798, 0.7602269649505615, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9193511605262756, 2.180779218673706, -1.5318971872329712, -0.22551603615283966, 0.9207815527915955, 0.758220911026001, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9193511605262756, 2.1571249961853027, -1.5259836912155151, -0.22551603615283966, 0.9166473150253296, 0.7511212229728699, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.907471776008606, 2.0798306465148926, -1.5380723476409912, -0.22340530157089233, 0.9415922164916992, 0.7350727319717407, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8880740404129028, 1.9452327489852905, -1.562982439994812, -0.22340530157089233, 0.9575709104537964, 0.700324296951294, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.35587504506111145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8572330474853516, 1.8057156801223755, -1.5731697082519531, -0.21122939884662628, 0.9783467650413513, 0.6283154487609863, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.3580555319786072, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8107970952987671, 1.7010167837142944, -1.5748791694641113, -0.14961719512939453, 1.0359817743301392, 0.5142316818237305, 0.0, -0.0, 0.22157368063926697, 2.2476768493652344, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.36775439977645874, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7522899508476257, 1.625274896621704, -1.5475270748138428, -0.06386248767375946, 1.073992133140564, 0.39606600999832153, 0.0, -0.0, 0.22157368063926697, 2.240856170654297, -1.542136788368225, 0.4223017990589142, 0.9016280174255371, -0.3704233467578888, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6848863363265991, 1.5678492784500122, -1.4832284450531006, 0.0, 1.0807604789733887, 0.26007258892059326, 0.0, -0.0, 0.22157368063926697, 2.1929898262023926, -1.5403400659561157, 0.41544631123542786, 0.9062332510948181, -0.3640213906764984, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6237102150917053, 1.5235415697097778, -1.386885166168213, 0.04120272770524025, 1.0788590908050537, 0.15130925178527832, 0.0, -0.0, 0.22818496823310852, 2.0766384601593018, -1.5133891105651855, 0.41012588143348694, 0.8753050565719604, -0.3453737497329712, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5567077994346619, 1.5015795230865479, -1.2702895402908325, 0.05862928554415703, 1.046012043952942, 0.058193184435367584, 0.0, -0.0, 0.25400209426879883, 1.9057918787002563, -1.421424388885498, 0.38488441705703735, 0.8069943189620972, -0.3226616680622101, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.48714113235473633, 1.501910924911499, -1.1588224172592163, 0.05479160323739052, 1.000797152519226, 0.013553988188505173, 0.0, -0.0, 0.30082178115844727, 1.7095469236373901, -1.2893906831741333, 0.32588881254196167, 0.7485395073890686, -0.2878957688808441, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.43214020133018494, 1.515918493270874, -1.0562690496444702, 0.021543340757489204, 0.9469824433326721, 0.0, 0.0, -0.0, 0.3532235622406006, 1.5025389194488525, -1.1460185050964355, 0.268271267414093, 0.7254610657691956, -0.23833736777305603, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.407962828874588, 1.5404622554779053, -0.9781897664070129, 0.0, 0.8812883496284485, -0.005302975885570049, 0.0, -0.0, 0.3875184655189514, 1.3290408849716187, -1.0080363750457764, 0.25473472476005554, 0.7228270173072815, -0.21921874582767487, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4082593619823456, 1.5730127096176147, -0.9237121343612671, -0.012071248143911362, 0.8165536522865295, 0.0, 0.0, -0.0, 0.3970254361629486, 1.189802885055542, -0.9070007801055908, 0.24780946969985962, 0.7228270173072815, -0.19045358896255493, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4082593619823456, 1.6140409708023071, -0.9004418253898621, -0.025014696642756462, 0.7676929831504822, 0.0, 0.0, -0.0, 0.3970254361629486, 1.0823129415512085, -0.83827143907547, 0.23905257880687714, 0.7228270173072815, -0.1750330924987793, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4082593619823456, 1.6465740203857422, -0.895714521408081, -0.02684631571173668, 0.7407943606376648, 0.0, 0.0, -0.0, 0.3970254361629486, 1.0192878246307373, -0.7999469637870789, 0.23634876310825348, 0.7220594882965088, -0.16913703083992004, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4082593619823456, 1.66693115234375, -0.8812010884284973, -0.030509555712342262, 0.7107208967208862, 0.0, 0.0, -0.0, 0.3970254361629486, 0.9934881329536438, -0.7832879424095154, 0.23634876310825348, 0.7177857160568237, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4082593619823456, 1.6823691129684448, -0.8588902354240417, -0.04584283381700516, 0.6865260601043701, 0.0, 0.0, -0.0, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7150470018386841, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.41717326641082764, 1.6877244710922241, -0.8332650065422058, -0.0502387210726738, 0.6454454660415649, 0.0, 0.0, -0.0, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7123780846595764, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.42729076743125916, 1.6877244710922241, -0.8137800693511963, -0.05008172243833542, 0.6041380763053894, 0.0, 0.0, -0.0, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7115930914878845, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4315820038318634, 1.6877244710922241, -0.7995108366012573, -0.05484393611550331, 0.587339460849762, 0.0, 0.0, -0.0, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7115930914878845, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4315820038318634, 1.6877244710922241, -0.7910504937171936, -0.05484393611550331, 0.584984540939331, 0.0, 0.0, -0.0, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7099533677101135, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4315820038318634, 1.6877244710922241, -0.7910504937171936, -0.05484393611550331, 0.584984540939331, 0.0, 0.0, -0.0, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4315820038318634, 1.6877244710922241, -0.7910504937171936, -0.05484393611550331, 0.584984540939331, 0.0, 0.0, -0.0, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4315820038318634, 1.6877244710922241, -0.7910504937171936, -0.05484393611550331, 0.584984540939331, 0.0, 0.0, -0.0, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4315820038318634, 1.6877244710922241, -0.7910504937171936, -0.05484393611550331, 0.584984540939331, 0.0, 0.0033499998971819878, -0.0033499998971819878, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4315820038318634, 1.6877244710922241, -0.7910504937171936, -0.05484393611550331, 0.584984540939331, 0.0, 0.011649999767541885, -0.011649999767541885, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4315820038318634, 1.6877244710922241, -0.7910504937171936, -0.05484393611550331, 0.584984540939331, 0.0, 0.019600000232458115, -0.019600000232458115, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.43210533261299133, 1.6877244710922241, -0.7910504937171936, -0.05484393611550331, 0.584984540939331, 0.0, 0.02370000071823597, -0.02370000071823597, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.43210533261299133, 1.6877244710922241, -0.7910504937171936, -0.05484393611550331, 0.5835192203521729, 0.0, 0.0243500005453825, -0.0243500005453825, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.43210533261299133, 1.6877244710922241, -0.7910504937171936, -0.05484393611550331, 0.5835192203521729, 0.0, 0.0243500005453825, -0.0243500005453825, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.43210533261299133, 1.6877244710922241, -0.7910504937171936, -0.05484393611550331, 0.5835192203521729, 0.0, 0.0243500005453825, -0.0243500005453825, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.43210533261299133, 1.683834433555603, -0.7910504937171936, -0.05484393611550331, 0.5862405300140381, 0.0, 0.0243500005453825, -0.0243500005453825, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.43210533261299133, 1.6691988706588745, -0.8090003728866577, -0.04983750730752945, 0.6142555475234985, 0.0, 0.0243500005453825, -0.0243500005453825, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.43210533261299133, 1.6498186588287354, -0.8504473567008972, -0.045511394739151, 0.64663165807724, 0.0, 0.0243500005453825, -0.0243500005453825, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.43210533261299133, 1.6228677034378052, -0.9010698199272156, -0.043191343545913696, 0.6633778810501099, 0.0, 0.0243500005453825, -0.0243500005453825, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.43210533261299133, 1.5946084260940552, -0.9563323855400085, -0.02810228429734707, 0.6706869006156921, -0.012315464206039906, 0.0243500005453825, -0.0243500005453825, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.41855132579803467, 1.5764840841293335, -1.0032916069030762, -0.01632758416235447, 0.6725534200668335, -0.03553342819213867, 0.022600000724196434, -0.022600000724196434, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.38238993287086487, 1.56980299949646, -1.038650631904602, -0.00948953628540039, 0.6747339367866516, -0.04762211814522743, 0.011300000362098217, -0.011300000362098217, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.23634876310825348, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3390415906906128, 1.56980299949646, -1.0547165870666504, 0.0, 0.6747339367866516, -0.05196567624807358, 0.0003000000142492354, -0.0003000000142492354, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.24521030485630035, 0.7077728509902954, -0.16505512595176697, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.29147180914878845, 1.568634271621704, -1.054699182510376, -0.005791408009827137, 0.6747339367866516, -0.05196567624807358, 0.0003000000142492354, -0.0003000000142492354, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.26185187697410583, 0.7077728509902954, -0.16179309785366058, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.24391944706439972, 1.546340823173523, -1.054699182510376, -0.011443263851106167, 0.6720126271247864, -0.05196567624807358, 0.0003000000142492354, -0.0003000000142492354, 0.3970254361629486, 0.9893190264701843, -0.7809852957725525, 0.2642765939235687, 0.7077728509902954, -0.1412440687417984, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19486692547798157, 1.4890896081924438, -1.0370981693267822, -0.01852552779018879, 0.6535394787788391, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.3876405656337738, 0.9893190264701843, -0.7809852957725525, 0.21916641294956207, 0.7034816145896912, -0.08013773709535599, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.14422699809074402, 1.3983982801437378, -0.9953895211219788, -0.02503214031457901, 0.6287864446640015, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.32909849286079407, 0.9884991645812988, -0.7809852957725525, 0.141331285238266, 0.7034816145896912, 0.007623028010129929, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09240087121725082, 1.2833725214004517, -0.9251948595046997, -0.027334747835993767, 0.6019924283027649, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.25852006673812866, 0.969973623752594, -0.7809852957725525, 0.11671780049800873, 0.7034816145896912, 0.033457592129707336, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04983750730752945, 1.160688877105713, -0.828938901424408, -0.027334747835993767, 0.5635807514190674, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.2205096036195755, 0.921601414680481, -0.7809852957725525, 0.11483385413885117, 0.7053306698799133, 0.036126524209976196, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.013135331682860851, 1.0390169620513916, -0.7372183203697205, -0.027334747835993767, 0.5250120759010315, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.21456119418144226, 0.8674726486206055, -0.7809852957725525, 0.11483385413885117, 0.7053306698799133, 0.036126524209976196, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.011670036241412163, 0.9332365393638611, -0.659173846244812, -0.027334747835993767, 0.5037652850151062, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.8184201717376709, -0.7809852957725525, 0.11915996670722961, 0.7071099877357483, 0.04024330899119377, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.021281680092215538, 0.8303692936897278, -0.589851438999176, -0.027334747835993767, 0.49697956442832947, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.7735192775726318, -0.7809852957725525, 0.12755052745342255, 0.7071099877357483, 0.04259824752807617, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.02283419668674469, 0.7189021110534668, -0.5357226729393005, -0.027334747835993767, 0.4927057921886444, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.7315838932991028, -0.7809852957725525, 0.12728886306285858, 0.7071099877357483, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.02283419668674469, 0.6237450838088989, -0.49485138058662415, -0.027334747835993767, 0.4906125068664551, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.7059237957000732, -0.7809852957725525, 0.12728886306285858, 0.7071099877357483, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0015525160124525428, 0.5483347177505493, -0.466382771730423, -0.027334747835993767, 0.48698413372039795, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6918988227844238, -0.7809852957725525, 0.12728886306285858, 0.7071099877357483, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04982006549835205, 0.4733429253101349, -0.4466710686683655, -0.012332907877862453, 0.48698413372039795, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6893345713615417, -0.7809852957725525, 0.12728886306285858, 0.7090288400650024, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.0769629254937172, 0.40000835061073303, -0.44311249256134033, -0.00835567619651556, 0.48698413372039795, -0.052471552044153214, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6893345713615417, -0.7809852957725525, 0.12728886306285858, 0.7090288400650024, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.33546555042266846, -0.44311249256134033, 0.0, 0.48698413372039795, -0.0611935518682003, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6893345713615417, -0.7809852957725525, 0.12728886306285858, 0.7108778953552246, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.27882489562034607, -0.44311249256134033, 0.0, 0.48698413372039795, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6876773834228516, -0.7809852957725525, 0.12728886306285858, 0.7183090448379517, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.24030853807926178, -0.44311249256134033, 0.0, 0.4890076518058777, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6876773834228516, -0.7809852957725525, 0.13128353655338287, 0.7406896948814392, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.21323545277118683, -0.44311249256134033, 0.0, 0.4952526092529297, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6876773834228516, -0.7809852957725525, 0.13128353655338287, 0.7459577918052673, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19898371398448944, -0.44311249256134033, 0.0, 0.4952526092529297, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6876773834228516, -0.7809852957725525, 0.13513866066932678, 0.7459577918052673, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.49722376465797424, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6876773834228516, -0.7809852957725525, 0.1349816769361496, 0.7459577918052673, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.4996833801269531, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6876773834228516, -0.7809852957725525, 0.1349816769361496, 0.7459577918052673, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6876773834228516, -0.7809852957725525, 0.1349816769361496, 0.7459577918052673, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6876773834228516, -0.7809852957725525, 0.1349816769361496, 0.7459577918052673, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6876773834228516, -0.7809852957725525, 0.1349816769361496, 0.7459577918052673, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.21320056915283203, 0.6856887340545654, -0.7809852957725525, 0.13304539024829865, 0.7459577918052673, 0.044761303812265396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.19092458486557007, 0.6633255481719971, -0.7809852957725525, 0.10096587240695953, 0.7246935367584229, 0.03326570615172386, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.1577984243631363, 0.6172035932540894, -0.7599653005599976, 0.06721173226833344, 0.6938002109527588, 0.025642680004239082, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.11343833059072495, 0.5457878708839417, -0.6997486352920532, 0.039039671421051025, 0.6692216396331787, 0.007099708076566458, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.06956667453050613, 0.4747384488582611, -0.6005097031593323, 0.014199416153132915, 0.6204481720924377, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.03870823606848717, 0.4073697328567505, -0.5065214037895203, 0.007640472147613764, 0.5560100674629211, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06729894876480103, 0.0003000000142492354, -0.0003000000142492354, 0.02700331248342991, 0.33783793449401855, -0.42418575286865234, 0.007640472147613764, 0.49404898285865784, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.025154247879981995, 0.27127164602279663, -0.34495508670806885, 0.007640472147613764, 0.4269070029258728, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.025154247879981995, 0.20699051022529602, -0.27967965602874756, 0.007640472147613764, 0.37710440158843994, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.025154247879981995, 0.14647726714611053, -0.23285995423793793, 0.007640472147613764, 0.3632887303829193, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.10339058935642242, -0.20979899168014526, 0.007640472147613764, 0.35517728328704834, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.07727692276239395, -0.1805105060338974, 0.007640472147613764, 0.3223476707935333, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.05039571598172188, -0.12366051971912384, 0.007640472147613764, 0.2572466731071472, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.014914619736373425, -0.0541461743414402, 0.007640472147613764, 0.18820331990718842, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.010448955930769444, 0.007640472147613764, 0.15446661412715912, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.15191979706287384, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.1451515257358551, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14174994826316833, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14174994826316833, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14174994826316833, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14174994826316833, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.007640472147613764, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.0102047398686409, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.015089060179889202, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.017164895310997963, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.017164895310997963, 0.14110451936721802, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.01866508089005947, 0.14110451936721802, 0.01639736071228981, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.01866508089005947, 0.14110451936721802, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014844844117760658, 0.14110451936721802, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012821340002119541, 0.14110451936721802, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012821340002119541, 0.14110451936721802, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.14110451936721802, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.14110451936721802, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13395246863365173, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06932245939970016, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06783971935510635, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06783971935510635, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06696751713752747, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06539755314588547, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06539755314588547, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06539755314588547, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06539755314588547, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06539755314588547, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06463001668453217, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06463001668453217, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.011251379735767841, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06463001668453217, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, 0.0, 0.5011312365531921, -0.06463001668453217, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, -0.009663975797593594, 0.5011312365531921, -0.06463001668453217, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, -0.016467135399580002, 0.5011312365531921, -0.05074459686875343, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, -0.012280575931072235, 0.5011312365531921, -0.00945464801043272, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, -0.012594567611813545, 0.5011312365531921, 0.01892673969268799, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, -0.012594567611813545, 0.5011312365531921, 0.028852375224232674, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, -0.012594567611813545, 0.5011312365531921, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.44311249256134033, -0.012594567611813545, 0.5011312365531921, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08151581138372421, 0.19638454914093018, -0.4377222955226898, -0.012594567611813545, 0.49157193303108215, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.06869447231292725, 0.17878355085849762, -0.3901350498199463, -0.016100812703371048, 0.42971548438072205, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.03303893655538559, 0.14225581288337708, -0.2879132330417633, -0.02016526460647583, 0.33007535338401794, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.00600073579698801, 0.10298937559127808, -0.1875578910112381, -0.02016526460647583, 0.25623491406440735, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0525936596095562, -0.10722827166318893, -0.02016526460647583, 0.2384769171476364, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.01400753203779459, -0.04898275062441826, -0.02016526460647583, 0.23118533194065094, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.01102460827678442, -0.02016526460647583, 0.20756615698337555, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.18009185791015625, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16763684153556824, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16205476224422455, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0032271400559693575, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.0180370956659317, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.005355307832360268, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.01836853288114071, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01146070845425129, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.01836853288114071, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.01836853288114071, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.020200151950120926, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.020200151950120926, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.008617335930466652, 0.13234762847423553, 0.020200151950120926, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.01055361982434988, 0.13234762847423553, 0.020200151950120926, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.020200151950120926, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.16221176087856293, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.02016526460647583, 0.15176279842853546, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.015874039381742477, 0.15176279842853546, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.01353654358536005, 0.1561412513256073, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, -0.011495595797896385, 0.15811242163181305, 0.030335115268826485, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, 0.0, 0.15811242163181305, 0.030963100492954254, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, 0.0, 0.15811242163181305, 0.03263772279024124, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, 0.0, 0.15811242163181305, 0.026113668456673622, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, 0.0, 0.15811242163181305, 0.023026080802083015, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, 0.0, 0.15811242163181305, 0.023026080802083015, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0043784440495073795, 0.0, 0.15811242163181305, 0.023026080802083015, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0037504599895328283, 0.0, 0.15181513130664825, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, 0.0, 0.14256981015205383, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, 0.0, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, 0.0, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, 0.0, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009384872391819954, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.012699232436716557, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.012332907877862453, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.01357143186032772, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.011704923585057259, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01510650385171175, 0.0072043719701468945, -0.0019362840102985501, -0.009681420400738716, 0.13604575395584106, 0.02088046818971634, 0.0003000000142492354, -0.0003000000142492354, 0.02456115186214447, 0.005616968031972647, -0.0036457960959523916, 0.014408743940293789, 0.13234762847423553, 0.02229343168437481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-aloha/000004/meta.json b/rc-table30-v2__rc-aloha/000004/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..17d18eea33f0b2469a77dc09bb80a1353555ed8f
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000004/meta.json
@@ -0,0 +1,133 @@
+{
+ "format_version": 8,
+ "prompt": "Put the pencil case into the backpack.",
+ "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "site",
+ "object_name": "gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ },
+ {
+ "object_type": "site",
+ "object_name": "fr_gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "fl_base_link",
+ "fl_link1",
+ "fl_link2",
+ "fl_link3",
+ "fl_link4",
+ "fl_link5",
+ "fl_link6",
+ "fl_link7",
+ "fl_link8"
+ ],
+ [
+ "fr_base_link",
+ "fr_link1",
+ "fr_link2",
+ "fr_link3",
+ "fr_link4",
+ "fr_link5",
+ "fr_link6",
+ "fr_link7",
+ "fr_link8"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "gripper_center",
+ "finger_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "fr_gripper_center",
+ "finger_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-aloha",
+ "source_repo_id": "rc-table30-v2/rc-aloha",
+ "episode_index": 3626,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "ALOHA"
+ }
+}
diff --git a/rc-table30-v2__rc-aloha/000004/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v2__rc-aloha/000004/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..25f8a5e6ecc2b9b1665fcb8f54bb351071eb18f5
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000004/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
@@ -0,0 +1,308 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-aloha/000004/temporal.json b/rc-table30-v2__rc-aloha/000004/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..1692b074709488f8e35ad7d4a1678373f4031f7a
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000004/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, -0.02581712044775486, 0.0051634241826832294, -0.005076203960925341, -0.08509182929992676, 0.05459972098469734, -0.02965480089187622, 0.0013000000035390258, -0.0013000000035390258, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02581712044775486, 0.0051634241826832294, -0.005076203960925341, -0.08509182929992676, 0.05243666470050812, -0.02965480089187622, 0.0013000000035390258, -0.0013000000035390258, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02581712044775486, 0.0051634241826832294, -0.0033492480870336294, -0.08509182929992676, 0.0053204200230538845, -0.02965480089187622, 0.0013000000035390258, -0.0013000000035390258, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02581712044775486, 0.0051634241826832294, -0.0033492480870336294, -0.09587222337722778, -0.09641298651695251, -0.06295539438724518, 0.0013000000035390258, -0.0013000000035390258, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02581712044775486, 0.005494860000908375, -0.03030022792518139, -0.11476407945156097, -0.09274974465370178, -0.16273507475852966, 0.0, -0.0, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02581712044775486, 0.1601010262966156, -0.20043155550956726, -0.11936929076910019, 0.0337366946041584, -0.21627071499824524, 0.0, -0.0, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02581712044775486, 0.43294262886047363, -0.4017353057861328, -0.11509551107883453, 0.12341629713773727, -0.16304907202720642, 0.0, -0.0, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02581712044775486, 0.7346715331077576, -0.6425322890281677, -0.11509551107883453, 0.34650760889053345, -0.1264515519142151, 0.0, -0.0, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.012507348321378231, 1.0701545476913452, -0.913838803768158, -0.21464842557907104, 0.6942886710166931, -0.028206948190927505, 0.0, -0.0, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.06656630337238312, 1.297048568725586, -1.079521894454956, -0.43107613921165466, 0.9137516021728516, 0.17328870296478271, 0.0009500000160187483, -0.0009500000160187483, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.21775345504283905, 1.3581548929214478, -1.1136772632598877, -0.551003634929657, 1.0179097652435303, 0.27022501826286316, 0.01145000010728836, -0.01145000010728836, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.3563983738422394, 1.3649755716323853, -1.070067286491394, -0.5825598239898682, 1.1161718368530273, 0.30331626534461975, 0.031950000673532486, -0.031950000673532486, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.43974578380584717, 1.3632311820983887, -0.9640601277351379, -0.6287166476249695, 1.1848313808441162, 0.329395055770874, 0.04, -0.04, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.45855042338371277, 1.3875654935836792, -0.8044998645782471, -0.7357355952262878, 1.2093052864074707, 0.44517087936401367, 0.03725000098347664, -0.03725000098347664, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.45855042338371277, 1.4299719333648682, -0.7316362261772156, -0.8201645612716675, 1.1832613945007324, 0.5156272053718567, 0.03099999949336052, -0.03099999949336052, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.45855042338371277, 1.5044578313827515, -0.7125176191329956, -0.865013062953949, 1.1488966941833496, 0.5676975250244141, 0.03344999998807907, -0.03344999998807907, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.45855042338371277, 1.5554989576339722, -0.7125176191329956, -0.937300980091095, 1.1390583515167236, 0.6210238337516785, 0.033900000154972076, -0.033900000154972076, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.45855042338371277, 1.5775655508041382, -0.7125176191329956, -0.9734449982643127, 1.1174626350402832, 0.6417124271392822, 0.033649999648332596, -0.033649999648332596, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.5970505475997925, -0.7125176191329956, -0.9848009943962097, 1.104379653930664, 0.6537138819694519, 0.031599998474121094, -0.031599998474121094, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.618768334388733, -0.7103545665740967, -0.9916390776634216, 1.1022340059280396, 0.6618951559066772, 0.02215000055730343, -0.02215000055730343, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.6276822090148926, -0.7017895579338074, -0.9960349798202515, 1.1046239137649536, 0.6815894246101379, 0.014750000089406967, -0.014750000089406967, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.03380647301673889, 0.06864213943481445, -0.07575929164886475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.629827857017517, -0.6940270066261292, -0.9989829659461975, 1.106542706489563, 0.7347936034202576, 0.00019999999494757503, -0.00019999999494757503, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.04320878908038139, 0.04982006549835205, -0.05268087983131409, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.6318339109420776, -0.6940270066261292, -1.0012855529785156, 1.113363265991211, 0.7798165678977966, 0.0, -0.0, 0.05282043293118477, 0.0069252680987119675, 0.0, 0.1435466706752777, 0.0, 0.06977599859237671, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.005262851715088, 1.115473985671997, 0.8081979751586914, 0.0, -0.0, 0.05282043293118477, 0.0069252680987119675, -0.0031050320249050856, 0.3460017442703247, 0.0, 0.20451346039772034, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0268410444259644, 1.1273534297943115, 0.8467491865158081, 0.0, -0.0, 0.06295539438724518, 0.04111550748348236, -0.11724112182855606, 0.49558404088020325, 0.18384231626987457, 0.268306165933609, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0552922487258911, 1.1449369192123413, 0.8884229063987732, 0.0, -0.0, 0.09875048696994781, 0.20119909942150116, -0.32683077454566956, 0.5769253969192505, 0.3992408215999603, 0.1270620971918106, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0650608539581299, 1.1490886211395264, 0.9128445386886597, 0.0, -0.0, 0.1546061784029007, 0.4662955701351166, -0.5306465029716492, 0.7214140892028809, 0.5870254635810852, -0.2008851021528244, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0667355060577393, 1.1490886211395264, 0.9198570251464844, 0.0, -0.0, 0.2488735467195511, 0.8027380108833313, -0.7037432789802551, 0.8940398693084717, 0.7256703972816467, -0.49652600288391113, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0667355060577393, 1.1490886211395264, 0.9198570251464844, 0.0, -0.0, 0.4284944236278534, 1.1307026147842407, -0.8695310950279236, 0.9552334547042847, 0.7251296639442444, -0.6224716901779175, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.068689227104187, 1.1490886211395264, 0.9257181882858276, 0.0, -0.0, 0.6222274899482727, 1.4121092557907104, -1.080655813217163, 0.9100708961486816, 0.6971145868301392, -0.5978931188583374, 0.0010499999625608325, -0.0010499999625608325, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.068689227104187, 1.1490886211395264, 0.927392840385437, 0.0, -0.0, 0.7478591799736023, 1.660895586013794, -1.325778841972351, 0.8504473567008972, 0.7574184536933899, -0.4879958927631378, 0.011300000362098217, -0.011300000362098217, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.068689227104187, 1.1490886211395264, 0.927392840385437, 0.0, -0.0, 0.8212809562683105, 1.9467154741287231, -1.6643146276474, 0.7636460065841675, 0.8952260613441467, -0.2948210537433624, 0.018650000914931297, -0.018650000914931297, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.068689227104187, 1.1490886211395264, 0.927392840385437, 0.0, -0.0, 0.8334394097328186, 2.0692248344421387, -1.7922314405441284, 0.7259843945503235, 0.9406153559684753, -0.20512399077415466, 0.01860000006854534, -0.01860000006854534, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.068689227104187, 1.150955080986023, 0.927392840385437, 0.0, -0.0, 0.8350617289543152, 2.15089750289917, -1.8641356229782104, 0.7208384275436401, 0.9569778442382812, -0.1703755408525467, 0.01860000006854534, -0.01860000006854534, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.068689227104187, 1.152943730354309, 0.927392840385437, 0.0, -0.0, 0.8350617289543152, 2.1981706619262695, -1.9064024686813354, 0.7288975119590759, 0.9651590585708618, -0.15727511048316956, 0.01860000006854534, -0.01860000006854534, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.068689227104187, 1.152943730354309, 0.927392840385437, 0.0, -0.0, 0.8350617289543152, 2.2219643592834473, -1.919886589050293, 0.7381951808929443, 0.9669732451438904, -0.1553213745355606, 0.01860000006854534, -0.01860000006854534, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0731199979782104, 1.157008171081543, 0.927392840385437, 0.0, -0.0, 0.8350617289543152, 2.2376465797424316, -1.9214740991592407, 0.7614306211471558, 0.9669732451438904, -0.1553213745355606, 0.01860000006854534, -0.01860000006854534, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0741491317749023, 1.1630089282989502, 0.927392840385437, 0.0, -0.0, 0.8350617289543152, 2.253660202026367, -1.9221194982528687, 0.7871081829071045, 0.9630658030509949, -0.1553213745355606, 0.01860000006854534, -0.01860000006854534, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0741491317749023, 1.1631659269332886, 0.927392840385437, 0.0, -0.0, 0.8350617289543152, 2.26831316947937, -1.9221194982528687, 0.8098376989364624, 0.9565417170524597, -0.1553213745355606, 0.01785000041127205, -0.01785000041127205, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0741491317749023, 1.1631659269332886, 0.927392840385437, 0.0, -0.0, 0.8350617289543152, 2.2750988006591797, -1.9221194982528687, 0.8215949535369873, 0.9447147250175476, -0.1553213745355606, 0.010350000113248825, -0.010350000113248825, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0750737190246582, 1.1649103164672852, 0.927392840385437, 0.0, -0.0, 0.8391610383987427, 2.2769479751586914, -1.9221194982528687, 0.8256419897079468, 0.9346669912338257, -0.15732744336128235, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0750737190246582, 1.1649103164672852, 0.9301314949989319, 0.0, -0.0, 0.8432778716087341, 2.278709650039673, -1.9221194982528687, 0.8208274245262146, 0.9311432838439941, -0.16125233471393585, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0750737190246582, 1.1649103164672852, 0.9399001598358154, 0.0, -0.0, 0.8432778716087341, 2.2760581970214844, -1.9221194982528687, 0.7897247672080994, 0.9268869161605835, -0.16339795291423798, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0750737190246582, 1.1654685735702515, 0.9458659887313843, 0.0, -0.0, 0.8432778716087341, 2.2524564266204834, -1.9221194982528687, 0.6729372143745422, 0.951238751411438, -0.13775527477264404, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6940270066261292, -1.0766785144805908, 1.1654685735702515, 0.9503316879272461, 0.0, -0.0, 0.8432778716087341, 2.2170801162719727, -1.9260618686676025, 0.538443922996521, 0.9976572394371033, -0.11033330112695694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6932768821716309, -1.0793474912643433, 1.1654685735702515, 0.9503316879272461, 0.0, -0.0, 0.8372945785522461, 2.183849334716797, -1.9260618686676025, 0.4387165904045105, 1.0343419313430786, -0.0964827612042427, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6910440325737, -1.081824541091919, 1.1610901355743408, 0.9527214765548706, 0.0, -0.0, 0.8201296329498291, 2.15552020072937, -1.9260618686676025, 0.39999091625213623, 1.0551700592041016, -0.08995870500802994, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6910440325737, -1.0826269388198853, 1.1592758893966675, 0.9565068483352661, 0.0, -0.0, 0.792655348777771, 2.1431000232696533, -1.9260618686676025, 0.38795456290245056, 1.0807081460952759, -0.08997615426778793, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6910440325737, -1.0826269388198853, 1.1574268341064453, 0.9579547047615051, 0.0, -0.0, 0.7437074780464172, 2.140814781188965, -1.9260618686676025, 0.3430362641811371, 1.1298304796218872, -0.09672697633504868, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6910440325737, -1.0826269388198853, 1.1511993408203125, 0.9646357297897339, 0.0, -0.0, 0.7000975012779236, 2.13474440574646, -1.9260618686676025, 0.32039394974708557, 1.166724443435669, -0.10769925266504288, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6910440325737, -1.084720253944397, 1.14235520362854, 0.9692758321762085, 0.0, -0.0, 0.6490214467048645, 2.1158175468444824, -1.9169560670852661, 0.29557114839553833, 1.1872386932373047, -0.11446753144264221, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6910440325737, -1.0852086544036865, 1.1382384300231934, 0.971229612827301, 0.0, -0.0, 0.5596733093261719, 2.0639216899871826, -1.850232720375061, 0.28595948219299316, 1.1938848495483398, -0.13510377705097198, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6910440325737, -1.0890637636184692, 1.1385873556137085, 0.9725378751754761, 0.0, -0.0, 0.486495703458786, 2.0346508026123047, -1.7485517263412476, 0.30647364258766174, 1.1723763942718506, -0.16416548192501068, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6910440325737, -1.0934945344924927, 1.14235520362854, 0.9852371215820312, 0.0, -0.0, 0.4385247230529785, 2.024655342102051, -1.6627620458602905, 0.39808952808380127, 1.1235854625701904, -0.21517173945903778, 0.0023499999660998583, -0.0023499999660998583, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6910440325737, -1.0914361476898193, 1.1380640268325806, 0.9968199133872986, 0.003800000064074993, -0.003800000064074993, 0.4292270541191101, 2.0208001136779785, -1.6294963359832764, 0.46085304021835327, 1.077760100364685, -0.2659686803817749, 0.012450000271201134, -0.012450000271201134, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.633752703666687, -0.6910440325737, -1.090127944946289, 1.1289408206939697, 1.009658694267273, 0.020349999889731407, -0.020349999889731407, 0.42732566595077515, 2.0080835819244385, -1.6271065473556519, 0.47201719880104065, 1.0592869520187378, -0.28681424260139465, 0.02459999918937683, -0.02459999918937683, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4588469862937927, 1.635514497756958, -0.708069384098053, -1.0923084020614624, 1.1331970691680908, 1.0187644958496094, 0.0393499992787838, -0.0393499992787838, 0.4214470386505127, 1.9777833223342896, -1.6271065473556519, 0.47201719880104065, 1.0542106628417969, -0.2912973463535309, 0.029850000515580177, -0.029850000515580177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.45242759585380554, 1.6313105821609497, -0.7731180787086487, -1.0923084020614624, 1.1835579872131348, 1.016095519065857, 0.03750000149011612, -0.03750000149011612, 0.4126378297805786, 1.9343128204345703, -1.6271065473556519, 0.47426748275756836, 1.0522046089172363, -0.2912973463535309, 0.029100000858306885, -0.029100000858306885, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.44993308186531067, 1.5926371812820435, -0.8857714533805847, -1.0903546810150146, 1.1959083080291748, 0.9625424742698669, 0.03139999881386757, -0.03139999881386757, 0.38825109601020813, 1.8841787576675415, -1.6271065473556519, 0.47426748275756836, 1.0482797622680664, -0.29316386580467224, 0.02905000001192093, -0.02905000001192093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4393620193004608, 1.5127437114715576, -1.0633513927459717, -1.0829758644104004, 1.197879433631897, 0.9059890508651733, 0.019899999722838402, -0.019899999722838402, 0.3515314757823944, 1.8331202268600464, -1.6271065473556519, 0.47426748275756836, 1.0501114130020142, -0.2950652539730072, 0.02905000001192093, -0.02905000001192093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.3702140152454376, 1.4606035947799683, -1.2068805694580078, -1.0029252767562866, 1.193814992904663, 0.8935340046882629, 0.000699999975040555, -0.000699999975040555, 0.3171842396259308, 1.8077043294906616, -1.6271065473556519, 0.47426748275756836, 1.0501288175582886, -0.2950652539730072, 0.02905000001192093, -0.02905000001192093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.19828595221042633, 1.446177363395691, -1.2864601612091064, -0.8072734475135803, 1.1958210468292236, 0.8788985013961792, 0.0, -0.0, 0.2842150926589966, 1.796400547027588, -1.6271065473556519, 0.47426748275756836, 1.0501288175582886, -0.296565443277359, 0.02905000001192093, -0.02905000001192093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.025607792660593987, 1.4729015827178955, -1.2752784490585327, -0.6020622253417969, 1.2127766609191895, 0.8664434552192688, 0.0, -0.0, 0.2692481279373169, 1.796400547027588, -1.6271065473556519, 0.47426748275756836, 1.0501288175582886, -0.296565443277359, 0.02905000001192093, -0.02905000001192093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11722368001937866, 1.5393109321594238, -1.259456753730774, -0.3893151879310608, 1.22, 0.8456502556800842, 0.0, -0.0, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.47426748275756836, 1.0501288175582886, -0.296565443277359, 0.02905000001192093, -0.02905000001192093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19420404732227325, 1.602597713470459, -1.254921317100525, -0.2408841997385025, 1.22, 0.8141812682151794, 0.0, -0.0, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.47426748275756836, 1.0520999431610107, -0.29717597365379333, 0.028950000181794167, -0.028950000181794167, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.21372388303279877, 1.6375031471252441, -1.252496600151062, -0.18870919942855835, 1.177312970161438, 0.7912249565124512, 0.0, -0.0, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.47426748275756836, 1.0520999431610107, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2165846973657608, 1.6518421173095703, -1.252496600151062, -0.17311425507068634, 1.1116887331008911, 0.770902693271637, 0.0, -0.0, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.47426748275756836, 1.0540885925292969, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2165846973657608, 1.665553092956543, -1.252496600151062, -0.17077675461769104, 1.0533385276794434, 0.7625993490219116, 0.0, -0.0, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.47426748275756836, 1.058222770690918, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2165846973657608, 1.6834681034088135, -1.252496600151062, -0.17077675461769104, 1.0326848030090332, 0.7625993490219116, 0.0, -0.0, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.47426748275756836, 1.058222770690918, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2165846973657608, 1.7079943418502808, -1.252496600151062, -0.16655531525611877, 1.019514560699463, 0.7606630921363831, 0.0, -0.0, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.47426748275756836, 1.058222770690918, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2165846973657608, 1.730148196220398, -1.252496600151062, -0.15045450627803802, 0.9772477746009827, 0.7494117021560669, 0.0, -0.0, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.47426748275756836, 1.0624617338180542, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2165846973657608, 1.7368816137313843, -1.252496600151062, -0.14340712130069733, 0.9277417063713074, 0.74684739112854, 0.0003000000142492354, -0.0003000000142492354, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.47426748275756836, 1.0668401718139648, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2165846973657608, 1.7368816137313843, -1.252496600151062, -0.14340712130069733, 0.9109605550765991, 0.7618492841720581, 0.010599999688565731, -0.010599999688565731, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.0708348751068115, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2181721031665802, 1.7368816137313843, -1.232593059539795, -0.14340712130069733, 0.9180951714515686, 0.8199552297592163, 0.03819999843835831, -0.03819999843835831, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.0708348751068115, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2276267558336258, 1.7368816137313843, -1.1873258352279663, -0.14340712130069733, 0.9375626444816589, 0.8662864565849304, 0.04, -0.04, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.0723350048065186, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.25056561827659607, 1.7368816137313843, -1.1894714832305908, -0.13700518012046814, 0.9628564715385437, 0.8637048006057739, 0.04, -0.04, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.0723350048065186, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2715507447719574, 1.7217053174972534, -1.2454841136932373, -0.16270019114017487, 1.0144034624099731, 0.818943440914154, 0.04, -0.04, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.0723350048065186, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2856106162071228, 1.6773626804351807, -1.351944923400879, -0.21157827973365784, 1.1088627576828003, 0.7671522498130798, 0.04, -0.04, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.0723350048065186, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2714984118938446, 1.6158726215362549, -1.4517420530319214, -0.22108525037765503, 1.1743125915527344, 0.7314966917037964, 0.04, -0.04, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.0723350048065186, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.21689869463443756, 1.630089521408081, -1.4497534036636353, -0.2001699060201645, 1.1898378133773804, 0.7265251278877258, 0.04, -0.04, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.0723350048065186, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1994372457265854, 1.6746762990951538, -1.424180507659912, -0.11574093997478485, 1.1653987169265747, 0.7266472578048706, 0.04, -0.04, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.074864387512207, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.7137508392333984, -1.412737250328064, -0.057948969304561615, 1.1131888628005981, 0.7247633337974548, 0.03519999980926514, -0.03519999980926514, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.074864387512207, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.746929407119751, -1.412737250328064, -0.04896530881524086, 1.0932154655456543, 0.7154133319854736, 0.0348999984562397, -0.0348999984562397, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.074864387512207, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.7827244997024536, -1.412737250328064, -0.04661036655306816, 1.0872496366500854, 0.7039002776145935, 0.0348999984562397, -0.0348999984562397, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.074864387512207, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.8137398958206177, -1.412737250328064, -0.04661036655306816, 1.086953043937683, 0.7037782073020935, 0.028999999165534973, -0.028999999165534973, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.074864387512207, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.8304163217544556, -1.4089692831039429, -0.05440783500671387, 1.0889067649841309, 0.7024000883102417, 0.007249999791383743, -0.007249999791383743, 0.2685852646827698, 1.796400547027588, -1.6271065473556519, 0.4762037694454193, 1.0773414373397827, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.8324573040008545, -1.4089692831039429, -0.08507438749074936, 1.0889590978622437, 0.7044759392738342, 0.0, -0.0, 0.26021215319633484, 1.7958074808120728, -1.6271065473556519, 0.46718519926071167, 1.1013269424438477, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.8177520036697388, -1.4254189729690552, -0.10743759572505951, 1.0904244184494019, 0.7034990787506104, 0.0, -0.0, 0.23961079120635986, 1.7901381254196167, -1.6228327751159668, 0.4378792941570282, 1.1249635219573975, -0.2989378273487091, 0.028850000351667404, -0.028850000351667404, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.7821139097213745, -1.448026418685913, -0.12334652245044708, 1.0904244184494019, 0.6989461779594421, 0.0, -0.0, 0.20119909942150116, 1.7702693939208984, -1.5948177576065063, 0.38708236813545227, 1.1457916498184204, -0.2989378273487091, 0.02905000001192093, -0.02905000001192093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.7339335680007935, -1.4622259140014648, -0.14632026851177216, 1.0884881019592285, 0.6950910687446594, 0.0, -0.0, 0.15272222459316254, 1.7336894273757935, -1.5379502773284912, 0.29391396045684814, 1.1731961965560913, -0.2865351438522339, 0.031300000846385956, -0.031300000846385956, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.6953474283218384, -1.465958833694458, -0.17564363777637482, 1.0846853256225586, 0.6950910687446594, 0.0, -0.0, 0.1020648404955864, 1.696708083152771, -1.441990852355957, 0.18031862378120422, 1.2057815790176392, -0.27357426285743713, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682072639465332, -1.465958833694458, -0.20526355504989624, 1.0846853256225586, 0.6950910687446594, 0.0, -0.0, 0.0666884109377861, 1.6814969778060913, -1.340833067893982, 0.07701525837182999, 1.2127243280410767, -0.2990424931049347, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.2143344283103943, 1.0846853256225586, 0.6950910687446594, 0.0, -0.0, 0.05901305377483368, 1.6814969778060913, -1.255933165550232, 0.035986971110105515, 1.2035313844680786, -0.42797109484672546, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.2158520519733429, 1.0846853256225586, 0.6950910687446594, 0.0, -0.0, 0.06365315616130829, 1.6814969778060913, -1.1920706033706665, 0.06051323562860489, 1.0934597253799438, -0.629013180732727, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.2259521335363388, 1.0846853256225586, 0.6950910687446594, 0.0, -0.0, 0.0769629254937172, 1.6852298974990845, -1.1348369121551514, 0.15565280616283417, 0.8677343130111694, -0.9121118783950806, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.2300340235233307, 1.0846853256225586, 0.6950910687446594, 0.0, -0.0, 0.0973026305437088, 1.7468770742416382, -1.1122817993164062, 0.1882382035255432, 0.7603664994239807, -1.0614848136901855, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.2300340235233307, 1.086482048034668, 0.6950910687446594, 0.0, -0.0, 0.10574553161859512, 1.8099021911621094, -1.1066473722457886, 0.1482216715812683, 0.769001305103302, -1.0765215158462524, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.23195286095142365, 1.088610291481018, 0.6950910687446594, 0.0, -0.0, 0.10574553161859512, 1.8328759670257568, -1.1048506498336792, 0.14846588671207428, 0.7817354202270508, -1.081423282623291, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.23195286095142365, 1.0908430814743042, 0.6950910687446594, 0.0, -0.0, 0.10574553161859512, 1.851610779762268, -1.1048506498336792, 0.14846588671207428, 0.7859917283058167, -1.099320888519287, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.23195286095142365, 1.0908430814743042, 0.6950910687446594, 0.0, -0.0, 0.10574553161859512, 1.872962236404419, -1.1048506498336792, 0.14846588671207428, 0.7769731879234314, -1.1072230339050293, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.23195286095142365, 1.0925003290176392, 0.6950910687446594, 0.0, -0.0, 0.10574553161859512, 1.906507134437561, -1.1048506498336792, 0.1405637562274933, 0.7612212896347046, -1.1216840744018555, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.23886069655418396, 1.0925003290176392, 0.6950910687446594, 0.0, -0.0, 0.10574553161859512, 1.9484773874282837, -1.1048506498336792, 0.13309772312641144, 0.7365554571151733, -1.1238645315170288, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.24770480394363403, 1.099198818206787, 0.6950910687446594, 0.0, -0.0, 0.10574553161859512, 1.9876391887664795, -1.1048506498336792, 0.1317894160747528, 0.7084008455276489, -1.1255217790603638, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.2502167224884033, 1.099198818206787, 0.6950910687446594, 0.0, -0.0, 0.10574553161859512, 1.9945470094680786, -1.1086184978485107, 0.13065555691719055, 0.7196347713470459, -1.1255217790603638, 0.029500000178813934, -0.029500000178813934, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.2502167224884033, 1.101361870765686, 0.6950910687446594, 0.0, -0.0, 0.1106996238231659, 1.9958378076553345, -1.1107467412948608, 0.1318417489528656, 0.7306244969367981, -1.1280511617660522, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.25618258118629456, 1.1033679246902466, 0.6950910687446594, 0.0, -0.0, 0.11738067865371704, 1.991930365562439, -1.1107467412948608, 0.12491648644208908, 0.7306244969367981, -1.0895870923995972, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.263543963432312, 1.1033679246902466, 0.6950910687446594, 0.0, -0.0, 0.1349642276763916, 1.9704393148422241, -1.1043622493743896, 0.09053435921669006, 0.7118198871612549, -0.950855016708374, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.28072628378868103, 1.1033679246902466, 0.6950910687446594, 0.0, -0.0, 0.15645523369312286, 1.9131009578704834, -1.1043622493743896, 0.032672613859176636, 0.7007603645324707, -0.7312001585960388, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.30425825715065, 1.107188105583191, 0.6950910687446594, 0.0, -0.0, 0.16259552538394928, 1.8365914821624756, -1.1043622493743896, 0.015368163585662842, 0.7202627658843994, -0.5376763939857483, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.33475035429000854, 1.107188105583191, 0.6950910687446594, 0.0, -0.0, 0.16259552538394928, 1.7548489570617676, -1.0909477472305298, 0.028625603765249252, 0.8118612170219421, -0.3531014621257782, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.33625054359436035, 1.107188105583191, 0.6862120628356934, 0.0, -0.0, 0.16259552538394928, 1.7000398635864258, -1.0698405504226685, 0.048616427928209305, 0.8449699282646179, -0.3029848337173462, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.33625054359436035, 1.107188105583191, 0.6491959095001221, 0.0, -0.0, 0.16259552538394928, 1.635776162147522, -1.0634560585021973, 0.0666709691286087, 0.8732292056083679, -0.27882489562034607, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.33625054359436035, 1.107188105583191, 0.5953462719917297, 0.0, -0.0, 0.16259552538394928, 1.5611333847045898, -1.0634560585021973, 0.07338690757751465, 0.8978601098060608, -0.27024245262145996, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.33625054359436035, 1.107188105583191, 0.5039920210838318, 0.0, -0.0, 0.16259552538394928, 1.4488811492919922, -1.0842666625976562, 0.1301671266555786, 0.9411735534667969, -0.2689515948295593, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.33625054359436035, 1.107188105583191, 0.4456244111061096, 0.0, -0.0, 0.1687532514333725, 1.3766281604766846, -1.1436461210250854, 0.20116420090198517, 0.974962592124939, -0.2761036455631256, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.33625054359436035, 1.1130492687225342, 0.41947585344314575, 0.0, -0.0, 0.19041870534420013, 1.3242263793945312, -1.223975658416748, 0.25394976139068604, 1.0019484758377075, -0.2803425192832947, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.33625054359436035, 1.1149855852127075, 0.41225406527519226, 0.0, -0.0, 0.2212596982717514, 1.301339864730835, -1.3142658472061157, 0.3178471326828003, 1.0414416790008545, -0.282435804605484, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.33625054359436035, 1.1149855852127075, 0.4104224443435669, 0.0, -0.0, 0.25796186923980713, 1.2992291450500488, -1.40654456615448, 0.40759649872779846, 1.0673459768295288, -0.284110426902771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.3389194905757904, 1.1198176145553589, 0.4048229157924652, 0.0, -0.0, 0.30247896909713745, 1.2992291450500488, -1.4690638780593872, 0.5179821252822876, 1.0607173442840576, -0.2865002453327179, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.36119547486305237, 1.1288012266159058, 0.3931005299091339, 0.0, -0.0, 0.3760054111480713, 1.3041483163833618, -1.4910956621170044, 0.6161569952964783, 0.974247395992279, -0.30322906374931335, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.3860880434513092, 1.142878532409668, 0.3728480637073517, 0.0, -0.0, 0.4436183571815491, 1.332477331161499, -1.4945670366287231, 0.6393749117851257, 0.8694612979888916, -0.32590624690055847, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.465958833694458, -0.4119400680065155, 1.1623809337615967, 0.34261760115623474, 0.0, -0.0, 0.5051084756851196, 1.3845651149749756, -1.4945670366287231, 0.6398285031318665, 0.7738507390022278, -0.3548981845378876, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.4607430696487427, -0.4487643539905548, 1.1772432327270508, 0.33304083347320557, 0.0, -0.0, 0.5353738069534302, 1.4376124143600464, -1.4945670366287231, 0.6414158940315247, 0.6993648409843445, -0.3761100769042969, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.4422175884246826, -0.4811229705810547, 1.1957513093948364, 0.3258015811443329, 0.0, -0.0, 0.5446365475654602, 1.47885000705719, -1.4945670366287231, 0.6438056826591492, 0.6465095281600952, -0.38252946734428406, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19954191148281097, 1.682194709777832, -1.4297974109649658, -0.5104114413261414, 1.2174865007400513, 0.32205113768577576, 0.0, -0.0, 0.5446365475654602, 1.514662504196167, -1.4945670366287231, 0.6461431980133057, 0.6272862553596497, -0.3939204216003418, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.19741374254226685, 1.682194709777832, -1.427861213684082, -0.5406767725944519, 1.22, 0.32205113768577576, 0.0, -0.0, 0.5446365475654602, 1.5394679307937622, -1.4945670366287231, 0.6468583941459656, 0.620203971862793, -0.4009503424167633, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1884300857782364, 1.682194709777832, -1.427861213684082, -0.585629940032959, 1.22, 0.32205113768577576, 0.0, -0.0, 0.5461542010307312, 1.562232255935669, -1.4945670366287231, 0.6485679149627686, 0.6151975393295288, -0.403200626373291, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.427861213684082, -0.6009109020233154, 1.22, 0.32205113768577576, 0.0, -0.0, 0.5461542010307312, 1.5826243162155151, -1.4945670366287231, 0.6641802787780762, 0.6134008169174194, -0.41153883934020996, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.427861213684082, -0.6071558594703674, 1.22, 0.3239350914955139, 0.0, -0.0, 0.5461542010307312, 1.5980972051620483, -1.4945670366287231, 0.720820963382721, 0.6128251552581787, -0.4574688971042633, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.427861213684082, -0.6138194799423218, 1.22, 0.32845306396484375, 0.0, -0.0, 0.5508815050125122, 1.6068540811538696, -1.4759716987609863, 0.7611863613128662, 0.5813387632369995, -0.49647367000579834, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.427861213684082, -0.6404041051864624, 1.22, 0.3427048325538635, 0.0, -0.0, 0.5544052124023438, 1.6107265949249268, -1.3888390064239502, 0.8612974882125854, 0.5225698947906494, -0.604556679725647, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.427861213684082, -0.653190553188324, 1.22, 0.35043251514434814, 0.0, -0.0, 0.5549982786178589, 1.6130118370056152, -1.2993338108062744, 0.9830217361450195, 0.47662240266799927, -0.7416142225265503, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.427861213684082, -0.6582842469215393, 1.22, 0.3633585274219513, 0.0, -0.0, 0.5549982786178589, 1.614965558052063, -1.227656364440918, 1.1122119426727295, 0.4605390429496765, -0.8724616765975952, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.427861213684082, -0.660761296749115, 1.22, 0.37469711899757385, 0.0, -0.0, 0.5549982786178589, 1.619221806526184, -1.1685560941696167, 1.206444501876831, 0.4536486566066742, -0.909844160079956, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.427861213684082, -0.6631860136985779, 1.22, 0.38980361819267273, 0.0, -0.0, 0.5549982786178589, 1.6488243341445923, -1.143262267112732, 1.2380181550979614, 0.5030326247215271, -0.8669493794441223, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.42482590675354, -0.6857236623764038, 1.2118695974349976, 0.415882408618927, 0.0, -0.0, 0.5549982786178589, 1.6967604160308838, -1.1419191360473633, 1.2498974800109863, 0.5568647980690002, -0.7913994193077087, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.42482590675354, -0.7031152844429016, 1.209723949432373, 0.43449515104293823, 0.0, -0.0, 0.5549982786178589, 1.7360966205596924, -1.1419191360473633, 1.2516244649887085, 0.5724772214889526, -0.7291941046714783, 0.004350000061094761, -0.004350000061094761, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.42482590675354, -0.7100580334663391, 1.2081714868545532, 0.45319512486457825, 0.0, -0.0, 0.5549982786178589, 1.7519358396530151, -1.1419191360473633, 1.2516244649887085, 0.5745530128479004, -0.6940967440605164, 0.031550001353025436, -0.031550001353025436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.42482590675354, -0.7077030539512634, 1.2058688402175903, 0.45725956559181213, 0.0, -0.0, 0.5530794858932495, 1.7519358396530151, -1.1543567180633545, 1.2442456483840942, 0.5785651206970215, -0.6554757356643677, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18255145847797394, 1.682194709777832, -1.42482590675354, -0.6674248576164246, 1.1996761560440063, 0.45725956559181213, 0.0, -0.0, 0.5530794858932495, 1.724199891090393, -1.1891225576400757, 1.1324645280838013, 0.5765590667724609, -0.543241024017334, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1804930716753006, 1.682194709777832, -1.4232385158538818, -0.6462129950523376, 1.1893668174743652, 0.45725956559181213, 0.0, -0.0, 0.5530794858932495, 1.6822121143341064, -1.2057467699050903, 0.9953023195266724, 0.5786697864532471, -0.4357511103153229, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.17217227816581726, 1.682194709777832, -1.4232385158538818, -0.626117467880249, 1.1683467626571655, 0.4535265564918518, 0.0, -0.0, 0.5530794858932495, 1.6019349098205566, -1.2154630422592163, 0.8545292019844055, 0.5841821432113647, -0.3468216061592102, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.14696569740772247, 1.6800665855407715, -1.4232385158538818, -0.5754601359367371, 1.1425122022628784, 0.4495144486427307, 0.0, -0.0, 0.5439562797546387, 1.5126564502716064, -1.2154630422592163, 0.7551507353782654, 0.5850892066955566, -0.2731730341911316, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08810964226722717, 1.6778860092163086, -1.4419209957122803, -0.4804426431655884, 1.1199396848678589, 0.44051334261894226, 0.0, -0.0, 0.5030849575996399, 1.4197845458984375, -1.220103144645691, 0.6299551725387573, 0.5952939391136169, -0.1749284267425537, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.0004361000028438866, 1.6730191707611084, -1.447311282157898, -0.39137357473373413, 1.0930235385894775, 0.4214121401309967, 0.0, -0.0, 0.44756069779396057, 1.3668769598007202, -1.2221789360046387, 0.5140398144721985, 0.6547605395317078, -0.08045172691345215, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.07816656678915024, 1.684218168258667, -1.4313673973083496, -0.37089434266090393, 1.0462737083435059, 0.4181675612926483, 0.0, -0.0, 0.39822906255722046, 1.3505668640136719, -1.2112939357757568, 0.4291398525238037, 0.7152563333511353, -0.013850536197423935, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.754604697227478, -1.385716438293457, -0.3659227788448334, 1.0085073709487915, 0.4582538902759552, 0.005849999841302633, -0.005849999841302633, 0.3357970118522644, 1.3456127643585205, -1.1777665615081787, 0.3742959201335907, 0.7740774750709534, 0.014809955842792988, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 1.8042329549789429, -1.3742907047271729, -0.3584567606449127, 0.9926159381866455, 0.4771282970905304, 0.03525000065565109, -0.03525000065565109, 0.2862037122249603, 1.3243833780288696, -1.1690270900726318, 0.32538291811943054, 0.7934054732322693, 0.023915724828839302, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 1.8012325763702393, -1.390007734298706, -0.3603407144546509, 0.9920054078102112, 0.4776690602302551, 0.04, -0.04, 0.21782322227954865, 1.2769007682800293, -1.1682944297790527, 0.27448132634162903, 0.7934054732322693, 0.024229716509580612, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 1.7438069581985474, -1.4587196111679077, -0.3625037670135498, 0.9941509962081909, 0.4222494661808014, 0.02995000034570694, -0.02995000034570694, 0.10731548815965652, 1.2033743858337402, -1.1682944297790527, 0.21553806960582733, 0.8195191025733948, 0.025939228013157845, 0.03465000167489052, -0.03465000167489052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 1.6528364419937134, -1.5207853317260742, -0.3664984405040741, 0.9756952524185181, 0.37541231513023376, 0.00279999990016222, -0.00279999990016222, 0.013641208410263062, 1.1096302270889282, -1.1659743785858154, 0.1435117870569229, 0.848790168762207, 0.025939228013157845, 0.017100000753998756, -0.017100000753998756, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 1.457167148590088, -1.4923865795135498, -0.3705454468727112, 0.8637396693229675, 0.3632189631462097, 0.0013000000035390258, -0.0013000000035390258, -0.05076203867793083, 0.9385046362876892, -1.104902982711792, 0.012210800312459469, 0.8434522747993469, 0.07657916098833084, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 1.2704639434814453, -1.344234585762024, -0.375133216381073, 0.7113488912582397, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, -0.05479160323739052, 0.764274001121521, -0.991534411907196, -0.03145153075456619, 0.7880327105522156, 0.1286843866109848, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 1.0776554346084595, -1.1022166013717651, -0.37954655289649963, 0.5683778524398804, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, -0.05479160323739052, 0.6431079506874084, -0.8544420003890991, -0.038027919828891754, 0.7573661208152771, 0.14330245554447174, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.9342831969261169, -0.8735257387161255, -0.40536367893218994, 0.45722469687461853, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, -0.05479160323739052, 0.6013121008872986, -0.7431841492652893, 0.02227598801255226, 0.7662800550460815, 0.08798753470182419, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8391610383987427, -0.7009348273277283, -0.4188653230667114, 0.3525258004665375, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, -0.05479160323739052, 0.599707305431366, -0.6817114949226379, 0.14469797909259796, 0.7856603264808655, 0.025171691551804543, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8228509426116943, -0.664302408695221, -0.4402516782283783, 0.3137652277946472, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, -0.05479160323739052, 0.5973349213600159, -0.6775423884391785, 0.18031862378120422, 0.781944751739502, 0.015089060179889202, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8215077519416809, -0.6603426337242126, -0.4463919699192047, 0.2920125722885132, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, -0.05479160323739052, 0.5973349213600159, -0.6767399907112122, 0.19245965778827667, 0.7760137915611267, 0.008826663717627525, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8215077519416809, -0.6603426337242126, -0.45071807503700256, 0.29005882143974304, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, -0.05479160323739052, 0.5973349213600159, -0.6767399907112122, 0.19446571171283722, 0.772350549697876, 0.006960155908018351, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8215077519416809, -0.6603426337242126, -0.45071807503700256, 0.29005882143974304, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, -0.05479160323739052, 0.5973349213600159, -0.6767399907112122, 0.19446571171283722, 0.772350549697876, 0.006960155908018351, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8215077519416809, -0.6603426337242126, -0.45071807503700256, 0.29005882143974304, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, -0.05479160323739052, 0.5973349213600159, -0.6767399907112122, 0.19446571171283722, 0.772350549697876, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8215077519416809, -0.6603426337242126, -0.45071807503700256, 0.29005882143974304, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, -0.052611105144023895, 0.59023517370224, -0.6727627515792847, 0.1420115977525711, 0.7097091674804688, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8215077519416809, -0.6603426337242126, -0.45071807503700256, 0.29005882143974304, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, -0.006210064049810171, 0.5345539450645447, -0.6155813336372375, 0.11731089651584625, 0.5125744938850403, -0.026410216465592384, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8215077519416809, -0.6603426337242126, -0.45071807503700256, 0.29005882143974304, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.03828958049416542, 0.4027470648288727, -0.46352195739746094, 0.11050774157047272, 0.2800983190536499, -0.06080978363752365, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8215077519416809, -0.6603426337242126, -0.45071807503700256, 0.29005882143974304, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.043522778898477554, 0.26017725467681885, -0.2486816644668579, 0.11270568519830704, 0.10459422320127487, -0.0627460703253746, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8215077519416809, -0.6603426337242126, -0.45071807503700256, 0.29005882143974304, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.043522778898477554, 0.15001839399337769, -0.07780023664236069, 0.142796590924263, 0.0, -0.061176106333732605, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8215077519416809, -0.6603426337242126, -0.45071807503700256, 0.28834933042526245, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.043522778898477554, 0.05524514615535736, -0.009437204338610172, 0.1569959968328476, -0.03821980580687523, -0.07087497413158417, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8215077519416809, -0.6599065065383911, -0.45071807503700256, 0.28834933042526245, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.043522778898477554, 0.008826663717627525, -0.004884319845587015, 0.1569959968328476, -0.04385421425104141, -0.10876333713531494, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8206180930137634, -0.6599065065383911, -0.45071807503700256, 0.28834933042526245, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.043522778898477554, 0.006977600045502186, -0.004884319845587015, 0.1640084832906723, -0.044935744255781174, -0.12059037387371063, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2864304780960083, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.043522778898477554, 0.006977600045502186, -0.002459604060277343, 0.1640084832906723, -0.044935744255781174, -0.12573635578155518, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2864304780960083, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.043522778898477554, 0.006977600045502186, 0.0, 0.1617756485939026, -0.044935744255781174, -0.13761571049690247, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2846860885620117, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.043522778898477554, 0.006977600045502186, 0.0, 0.12837038934230804, -0.02808484062552452, -0.12496881932020187, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2846860885620117, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.043522778898477554, 0.006977600045502186, 0.0, 0.03726038336753845, 0.043976325541734695, -0.00866966787725687, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2846860885620117, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.043522778898477554, 0.006977600045502186, 0.0, 0.0, 0.12737609446048737, 0.041638828814029694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2846860885620117, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.010100075975060463, 0.14475031197071075, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2846860885620117, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.02384594827890396, 0.1428838074207306, -0.03350992500782013, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2846860885620117, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.028381388634443283, 0.1428838074207306, -0.04537184536457062, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2846860885620117, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.028381388634443283, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2846860885620117, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.03225395455956459, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2846860885620117, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.03225395455956459, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2846860885620117, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.03225395455956459, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11900296807289124, 0.8183852434158325, -0.6599065065383911, -0.45071807503700256, 0.2846860885620117, 0.3608640134334564, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.03225395455956459, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.09581989049911499, 0.7900736331939697, -0.6470328569412231, -0.4238543212413788, 0.2676084041595459, 0.37703460454940796, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.03225395455956459, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.025520572438836098, 0.6487074494361877, -0.5608071684837341, -0.411085307598114, 0.19835571944713593, 0.3885999917984009, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.03420768305659294, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.026427660137414932, 0.30267083644866943, -0.30788660049438477, -0.4066719710826874, 0.07865499705076218, 0.3908328115940094, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.03420768305659294, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.07460799068212509, -0.05236688628792763, -0.4066719710826874, 0.022345764562487602, 0.3757437467575073, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.01479251217097044, -0.0043784440495073795, -0.4048577845096588, 0.042807575315237045, 0.37152230739593506, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.007117152214050293, -0.004291223827749491, -0.3985430598258972, 0.05681510642170906, 0.3736155927181244, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0028084840159863234, -0.3985430598258972, 0.09325562417507172, 0.3892454206943512, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0028084840159863234, -0.3985430598258972, 0.12078225612640381, 0.395734578371048, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0028084840159863234, -0.3985430598258972, 0.12078225612640381, 0.395734578371048, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.23962822556495667, 0.07654426991939545, 0.20229807496070862, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.09032503515481949, 0.04894786328077316, 0.01215846836566925, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06640930473804474, 0.04439498111605644, -0.039754875004291534, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.064316026866436, 0.04439498111605644, -0.04992472752928734, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.04439498111605644, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.04439498111605644, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.04252847284078598, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.040696851909160614, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.03876056894659996, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.03876056894659996, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.03729527071118355, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.03729527071118355, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.03729527071118355, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.03729527071118355, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.03729527071118355, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.03729527071118355, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.03729527071118355, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.03729527071118355, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.03729527071118355, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.04451708868145943, -0.05236688628792763, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05114580690860748, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030980544164776802, 0.004709879867732525, -0.0022328319028019905, -0.06222274899482727, 0.05280298739671707, -0.0541461743414402, 0.0013000000035390258, -0.0013000000035390258, 0.04144694283604622, 0.006977600045502186, 0.0, 0.036056749522686005, 0.1428838074207306, -0.05208778381347656, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-aloha/000010/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v2__rc-aloha/000010/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..d2a2ca6bd0adb3886364f1456a8e514ec63e1994
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000010/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
@@ -0,0 +1,308 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-aloha/000020/meta.json b/rc-table30-v2__rc-aloha/000020/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..446bf51d931a84b22c1d41c5cf6d2687ae05b355
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000020/meta.json
@@ -0,0 +1,133 @@
+{
+ "format_version": 8,
+ "prompt": "Bundle the objects together using the cloth on the table.",
+ "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "site",
+ "object_name": "gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ },
+ {
+ "object_type": "site",
+ "object_name": "fr_gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "fl_base_link",
+ "fl_link1",
+ "fl_link2",
+ "fl_link3",
+ "fl_link4",
+ "fl_link5",
+ "fl_link6",
+ "fl_link7",
+ "fl_link8"
+ ],
+ [
+ "fr_base_link",
+ "fr_link1",
+ "fr_link2",
+ "fr_link3",
+ "fr_link4",
+ "fr_link5",
+ "fr_link6",
+ "fr_link7",
+ "fr_link8"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "gripper_center",
+ "finger_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "fr_gripper_center",
+ "finger_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-aloha",
+ "source_repo_id": "rc-table30-v2/rc-aloha",
+ "episode_index": 7555,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "ALOHA"
+ }
+}
diff --git a/rc-table30-v2__rc-aloha/000025/meta.json b/rc-table30-v2__rc-aloha/000025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5971179f6619b6f70a7c533aed92c1eeecd3a812
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000025/meta.json
@@ -0,0 +1,133 @@
+{
+ "format_version": 8,
+ "prompt": "Wipe the blackboard clean.",
+ "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "site",
+ "object_name": "gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ },
+ {
+ "object_type": "site",
+ "object_name": "fr_gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "fl_base_link",
+ "fl_link1",
+ "fl_link2",
+ "fl_link3",
+ "fl_link4",
+ "fl_link5",
+ "fl_link6",
+ "fl_link7",
+ "fl_link8"
+ ],
+ [
+ "fr_base_link",
+ "fr_link1",
+ "fr_link2",
+ "fr_link3",
+ "fr_link4",
+ "fr_link5",
+ "fr_link6",
+ "fr_link7",
+ "fr_link8"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "gripper_center",
+ "finger_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "fr_gripper_center",
+ "finger_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-aloha",
+ "source_repo_id": "rc-table30-v2/rc-aloha",
+ "episode_index": 6643,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "ALOHA"
+ }
+}
diff --git a/rc-table30-v2__rc-aloha/000025/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v2__rc-aloha/000025/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..64a9c3d3776aae8f05084c66fd430e8aa6cad95f
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000025/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
@@ -0,0 +1,308 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-aloha/000025/temporal.json b/rc-table30-v2__rc-aloha/000025/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa366598cfb4a035ba4894788fabd85a98394061
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000025/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.00678571593016386, 0.0, -0.04559861496090889, 0.1875578910112381, 0.052523884922266006, 0.0, -0.0, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.00678571593016386, 0.0, -0.04559861496090889, 0.1875578910112381, 0.052523884922266006, 0.0010999999940395355, -0.0010999999940395355, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.00678571593016386, 0.0, -0.04559861496090889, 0.1875578910112381, 0.052523884922266006, 0.00930000003427267, -0.00930000003427267, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.00678571593016386, 0.0, -0.04559861496090889, 0.1875578910112381, 0.052523884922266006, 0.03359999880194664, -0.03359999880194664, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.00678571593016386, 0.0, -0.05587313324213028, 0.11823543161153793, 0.04859898239374161, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.00678571593016386, -0.0012559680035337806, -0.06138543784618378, 0.057634975761175156, 0.04859898239374161, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.04668014496564865, -0.07396256178617477, -0.0721658244729042, 0.0714506208896637, 0.04669758677482605, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.2017572969198227, -0.2220272272825241, -0.06954922527074814, 0.12449783086776733, 0.04669758677482605, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.5794024467468262, -0.518330991268158, -0.0721658244729042, 0.3753076493740082, 0.04669758677482605, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.9273405075073242, -0.7121862173080444, -0.07856777310371399, 0.6207796335220337, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.1788132190704346, -0.7755776643753052, -0.12589335441589355, 0.6904858350753784, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.3784422874450684, -0.8296715021133423, -0.13927289843559265, 0.7191637754440308, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.5688785314559937, -0.8984183073043823, -0.12386984378099442, 0.7263855934143066, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.18663336336612701, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.7253162860870361, -0.9471743106842041, -0.06857236474752426, 0.7263855934143066, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.172713041305542, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8143504858016968, -0.9713342785835266, -0.0329866036772728, 0.7263855934143066, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.1686660349369049, 0.04699413478374481, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8664382696151733, -0.9787828326225281, -0.023601731285452843, 0.7158843278884888, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.16067668795585632, 0.04699413478374481, 0.000699999975040555, -0.000699999975040555, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9814866781234741, -0.023601731285452843, 0.7170705199241638, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.0070822639390826225, -0.0016048479592427611, -0.030160676687955856, 0.15629823505878448, 0.04699413478374481, 0.007499999832361937, -0.007499999832361937, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9814866781234741, -0.023601731285452843, 0.7170705199241638, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.005425083916634321, -0.0016048479592427611, -0.030160676687955856, 0.14612838625907898, 0.04699413478374481, 0.021800000220537186, -0.021800000220537186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7150818705558777, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.005425083916634321, -0.0016048479592427611, -0.030160676687955856, 0.08531860262155533, 0.042964570224285126, 0.03590000048279762, -0.03590000048279762, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7150818705558777, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.040365416556596756, -0.02675909548997879, -0.031974852085113525, 0.0298117958009243, 0.03359714522957802, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7150818705558777, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.18724389374256134, -0.15396074950695038, -0.031974852085113525, 0.07600350677967072, 0.03152130916714668, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7134944796562195, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.40625330805778503, -0.35208970308303833, -0.012542235665023327, 0.17696937918663025, 0.02723008394241333, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7134944796562195, 0.04483107849955559, 0.04, -0.04, -0.013065556064248085, 0.6722917556762695, -0.604242742061615, 0.06920034438371658, 0.33701807260513306, 0.02723008394241333, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7134944796562195, 0.04690691456198692, 0.04, -0.04, -0.013065556064248085, 0.9655951857566833, -0.7786478400230408, 0.1507510542869568, 0.5029279589653015, 0.020967688411474228, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7134944796562195, 0.04690691456198692, 0.04, -0.04, -0.013065556064248085, 1.231808066368103, -0.8595879673957825, 0.21018275618553162, 0.6217390298843384, -0.02698586881160736, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7134944796562195, 0.04690691456198692, 0.04, -0.04, 0.004849432036280632, 1.4516547918319702, -0.9425167441368103, 0.23423802852630615, 0.7243620753288269, -0.07005510479211807, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7134944796562195, 0.04690691456198692, 0.04, -0.04, 0.04613938182592392, 1.6078134775161743, -1.0302774906158447, 0.2361219823360443, 0.7837938070297241, -0.09126700460910797, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7134944796562195, 0.04891297593712807, 0.04, -0.04, 0.07019465416669846, 1.7185131311416626, -1.095832109451294, 0.23406359553337097, 0.7956731915473938, -0.07975396513938904, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7134944796562195, 0.04891297593712807, 0.04, -0.04, 0.07169484347105026, 1.7882193326950073, -1.1339646577835083, 0.20885701477527618, 0.8047614693641663, -0.04898275062441826, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7134944796562195, 0.04891297593712807, 0.04, -0.04, 0.07169484347105026, 1.837760329246521, -1.1498037576675415, 0.17761480808258057, 0.8047614693641663, -0.016065923497080803, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7134944796562195, 0.04891297593712807, 0.04, -0.04, 0.07169484347105026, 1.8789629936218262, -1.1557347774505615, 0.16624131798744202, 0.7947660684585571, -0.006995044182986021, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7134944796562195, 0.050971366465091705, 0.04, -0.04, 0.07169484347105026, 1.9048324823379517, -1.1557347774505615, 0.1647062450647354, 0.784317135810852, 0.0, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7128839492797852, 0.050971366465091705, 0.04, -0.04, 0.07169484347105026, 1.9229393005371094, -1.1557347774505615, 0.1647062450647354, 0.7716004252433777, 0.0, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7128839492797852, 0.050971366465091705, 0.04, -0.04, 0.07169484347105026, 1.9484773874282837, -1.1557347774505615, 0.1647062450647354, 0.7492023706436157, 0.0, 0.03674999997019768, -0.03674999997019768, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7128839492797852, 0.050971366465091705, 0.04, -0.04, 0.07169484347105026, 1.9741549491882324, -1.1557347774505615, 0.1647062450647354, 0.7334504127502441, 0.0, 0.03635000064969063, -0.03635000064969063, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7128839492797852, 0.050971366465091705, 0.04, -0.04, 0.07169484347105026, 1.989121913909912, -1.1557347774505615, 0.1647062450647354, 0.7314966917037964, 0.0, 0.02914999984204769, -0.02914999984204769, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7128839492797852, 0.050971366465091705, 0.04, -0.04, 0.07169484347105026, 1.9917384386062622, -1.1557347774505615, 0.1647062450647354, 0.729891836643219, -0.006995044182986021, 0.008550000376999378, -0.008550000376999378, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7128839492797852, 0.050971366465091705, 0.04, -0.04, 0.07169484347105026, 1.9917384386062622, -1.1557347774505615, 0.17314913868904114, 0.734566867351532, -0.021072352305054665, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7128839492797852, 0.050971366465091705, 0.04, -0.04, 0.08563259243965149, 1.9805220365524292, -1.1570430994033813, 0.23254595696926117, 0.7563892602920532, -0.0525587722659111, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7128839492797852, 0.050971366465091705, 0.04, -0.04, 0.17674261331558228, 1.9570423364639282, -1.191442608833313, 0.2988331615924835, 0.7832879424095154, -0.06400203704833984, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7128839492797852, 0.05306464806199074, 0.04, -0.04, 0.3392334580421448, 1.955053687095642, -1.269138216972351, 0.3333199620246887, 0.7982723116874695, -0.03288194164633751, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.711226761341095, 0.05306464806199074, 0.04, -0.04, 0.5005207061767578, 1.9935526847839355, -1.376523494720459, 0.3415360748767853, 0.805215060710907, 0.026497436687350273, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.711226761341095, 0.05306464806199074, 0.04, -0.04, 0.6441720128059387, 2.0754523277282715, -1.5033239126205444, 0.3255050480365753, 0.819083034992218, 0.11982283741235733, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.711226761341095, 0.05306464806199074, 0.04, -0.04, 0.715570330619812, 2.1640677452087402, -1.623513102531433, 0.2580491006374359, 0.8682751059532166, 0.20491467416286469, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.711226761341095, 0.05306464806199074, 0.04, -0.04, 0.7446843385696411, 2.237977981567383, -1.7051509618759155, 0.20535077154636383, 0.907279908657074, 0.24978064000606537, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.711226761341095, 0.05306464806199074, 0.04, -0.04, 0.7468648552894592, 2.280332088470459, -1.722594976425171, 0.17799857258796692, 0.9366032481193542, 0.2729637026786804, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.711226761341095, 0.055192817002534866, 0.04, -0.04, 0.7488709092140198, 2.2867515087127686, -1.72925865650177, 0.09091813117265701, 0.9701829552650452, 0.3019905388355255, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7107557654380798, 0.055192817002534866, 0.04, -0.04, 0.7382649779319763, 2.2699878215789795, -1.7110470533370972, -0.016292696818709373, 0.986807107925415, 0.35444462299346924, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7107557654380798, 0.055192817002534866, 0.04, -0.04, 0.6830023527145386, 2.246926784515381, -1.6635993719100952, -0.02731730416417122, 0.9840160608291626, 0.36278286576271057, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7107557654380798, 0.055192817002534866, 0.04, -0.04, 0.640316903591156, 2.2366697788238525, -1.639456868171692, 0.04095851257443428, 0.9745265245437622, 0.3461936116218567, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7107557654380798, 0.055192817002534866, 0.04, -0.04, 0.6545512080192566, 2.2366697788238525, -1.6357238292694092, 0.046505704522132874, 0.9583908319473267, 0.34403055906295776, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7107557654380798, 0.055192817002534866, 0.04, -0.04, 0.714384138584137, 2.234942674636841, -1.6316593885421753, 0.030666552484035492, 0.9179730415344238, 0.3569914698600769, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7107557654380798, 0.055192817002534866, 0.04, -0.04, 0.8200424313545227, 2.2440834045410156, -1.649644136428833, 0.04149927571415901, 0.8883008360862732, 0.3595731854438782, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7107557654380798, 0.055192817002534866, 0.04, -0.04, 0.8944934606552124, 2.258561849594116, -1.6754612922668457, 0.06190875545144081, 0.8843584656715393, 0.3595731854438782, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7089067101478577, 0.055192817002534866, 0.04, -0.04, 0.907471776008606, 2.2605504989624023, -1.681200385093689, 0.05765242129564285, 0.8843584656715393, 0.37312716245651245, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.9797248244285583, -0.023601731285452843, 0.7069181203842163, 0.055192817002534866, 0.04, -0.04, 0.8710138201713562, 2.2465603351593018, -1.6478649377822876, 0.03419024124741554, 0.8752875924110413, 0.4213598072528839, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7069181203842163, 0.055192817002534866, 0.04, -0.04, 0.7887653708457947, 2.1963915824890137, -1.5607495307922363, -0.007064819801598787, 0.8471853137016296, 0.4361697733402252, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7069181203842163, 0.055192817002534866, 0.04, -0.04, 0.6759375333786011, 2.1441292762756348, -1.4523351192474365, -0.014687848277390003, 0.8062616586685181, 0.44302526116371155, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7069181203842163, 0.055192817002534866, 0.04, -0.04, 0.6001957058906555, 2.1212775707244873, -1.4083588123321533, 0.0, 0.7903178930282593, 0.44302526116371155, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7069181203842163, 0.055192817002534866, 0.04, -0.04, 0.6056731343269348, 2.117736577987671, -1.401764988899231, 0.0, 0.7825901508331299, 0.44302526116371155, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7089765071868896, 0.055192817002534866, 0.04, -0.04, 0.6549175381660461, 2.12668514251709, -1.4189996719360352, -0.029550135135650635, 0.7875093817710876, 0.44302526116371155, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7089765071868896, 0.055192817002534866, 0.04, -0.04, 0.7330840826034546, 2.164870262145996, -1.4862985610961914, -0.024979807436466217, 0.8161698579788208, 0.43126800656318665, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7089765071868896, 0.055192817002534866, 0.04, -0.04, 0.8305437564849854, 2.2270755767822266, -1.6112499237060547, 0.011949139647185802, 0.8587507009506226, 0.39835119247436523, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7089765071868896, 0.055192817002534866, 0.04, -0.04, 0.8883880376815796, 2.28434419631958, -1.7206761837005615, 0.030736327171325684, 0.9054133892059326, 0.3846750855445862, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.9022908806800842, 2.29706072807312, -1.7581982612609863, 0.019484948366880417, 0.9313526153564453, 0.40457868576049805, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.869426429271698, 2.2940778732299805, -1.753889560699463, -0.017757991328835487, 0.9582338333129883, 0.4284071922302246, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.7991794347763062, 2.2661499977111816, -1.69257390499115, -0.03572531044483185, 0.9467905163764954, 0.4373036324977875, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.7146632075309753, 2.220045566558838, -1.6002602577209473, -0.033300597220659256, 0.9016803503036499, 0.44389745593070984, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.6604472994804382, 2.1750400066375732, -1.5115749835968018, -0.02880004420876503, 0.8529767394065857, 0.44389745593070984, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.6460734009742737, 2.142716407775879, -1.4729713201522827, -0.03978976234793663, 0.8401378989219666, 0.4401295781135559, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.643596351146698, 2.106572389602661, -1.4533294439315796, -0.052384331822395325, 0.8544768691062927, 0.3994675874710083, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.6093189120292664, 2.0465126037597656, -1.4512187242507935, -0.050570156425237656, 0.8592739701271057, 0.3547760844230652, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.5065912008285522, 1.9817605018615723, -1.4512187242507935, -0.048773422837257385, 0.8572155833244324, 0.3061073124408722, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.3780812621116638, 1.942965030670166, -1.4316813945770264, -0.05351819097995758, 0.8481970429420471, 0.2564791440963745, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.25998538732528687, 1.940801978111267, -1.379680871963501, -0.059204936027526855, 0.8172339797019958, 0.22956304252147675, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.18092916905879974, 1.9580192565917969, -1.3015142679214478, -0.059204936027526855, 0.772542417049408, 0.21904431283473969, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.1450991928577423, 1.9817779064178467, -1.2481356859207153, -0.05161679536104202, 0.7473183870315552, 0.21454375982284546, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.1404416412115097, 2.000582695007324, -1.217207431793213, -0.04064451903104782, 0.7360844612121582, 0.2103920876979828, 0.0011500000255182385, -0.0011500000255182385, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7071623206138611, 0.055192817002534866, 0.04, -0.04, 0.1404416412115097, 2.012967824935913, -1.209252953529358, -0.0211770161986351, 0.7343226075172424, 0.20784525573253632, 0.00839999970048666, -0.00839999970048666, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7029582858085632, 0.05932704359292984, 0.04, -0.04, 0.1404416412115097, 2.015392541885376, -1.2075259685516357, -0.005494860000908375, 0.7305721640586853, 0.19558212161064148, 0.021649999544024467, -0.021649999544024467, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8749682903289795, -0.977928102016449, -0.023601731285452843, 0.7029582858085632, 0.05932704359292984, 0.04, -0.04, 0.1404416412115097, 2.015392541885376, -1.2075259685516357, 0.0, 0.7305721640586853, 0.1829003393650055, 0.037450000643730164, -0.037450000643730164, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8728924989700317, -0.977928102016449, -0.023601731285452843, 0.7029582858085632, 0.05932704359292984, 0.04, -0.04, 0.1404416412115097, 2.015392541885376, -1.2075259685516357, 0.0, 0.7368869185447693, 0.16577033698558807, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8616411685943604, -0.9878363013267517, -0.01993849128484726, 0.7059586644172668, 0.05681510642170906, 0.04, -0.04, 0.1404416412115097, 1.9968844652175903, -1.2075259685516357, 0.0, 0.7410908937454224, 0.15950793027877808, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.8108092546463013, -1.01921808719635, -0.015350719913840294, 0.7262635231018066, 0.052628546953201294, 0.04, -0.04, 0.1404416412115097, 1.9452327489852905, -1.2075259685516357, 0.0, 0.7432714104652405, 0.15572258830070496, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.7299214601516724, -1.0487507581710815, -0.015350719913840294, 0.763087809085846, 0.050430603325366974, 0.04, -0.04, 0.1404416412115097, 1.8783175945281982, -1.2075259685516357, 0.0, 0.7631052136421204, 0.1531059890985489, 0.039400000125169754, -0.039400000125169754, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.6503244638442993, -1.0536699295043945, -0.015350719913840294, 0.7868988513946533, 0.048616427928209305, 0.03290000185370445, -0.03290000185370445, 0.1404416412115097, 1.819688320159912, -1.2075259685516357, 0.0, 0.8004004955291748, 0.11729345470666885, 0.021900000050663948, -0.021900000050663948, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.5996845960617065, -1.0536699295043945, -0.015350719913840294, 0.8249093294143677, 0.048616427928209305, 0.0101500004529953, -0.0101500004529953, 0.1404416412115097, 1.7692925930023193, -1.2075259685516357, 0.018630191683769226, 0.8615242838859558, 0.07160761952400208, 0.00044999999227002263, -0.00044999999227002263, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.5636104345321655, -1.048244833946228, -0.015350719913840294, 0.8913186192512512, 0.07319502532482147, 0.0005499999970197678, -0.0005499999970197678, 0.1404416412115097, 1.7171874046325684, -1.2055548429489136, 0.025782231241464615, 0.9432319402694702, 0.05350074917078018, 0.0005499999970197678, -0.0005499999970197678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.4941134452819824, -0.9929822683334351, -0.015350719913840294, 0.9302536249160767, 0.11970072984695435, 0.0, -0.0, 0.1404416412115097, 1.6261122226715088, -1.1668117046356201, 0.025782231241464615, 0.9791840314865112, 0.03654517978429794, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.3542649745941162, -0.8769447803497314, -0.034643784165382385, 0.935137927532196, 0.12976591289043427, 0.0, -0.0, 0.1404416412115097, 1.4507477283477783, -1.059880018234253, 0.05243666470050812, 0.9535937309265137, 0.03204462677240372, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 1.119678020477295, -0.7031152844429016, -0.0839754194021225, 0.8475865125656128, 0.1341792494058609, 0.0, -0.0, 0.1404416412115097, 1.2059909105300903, -0.8701939582824707, 0.11495596170425415, 0.8140242695808411, 0.04558117315173149, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.8082851767539978, -0.5380078554153442, -0.14586672186851501, 0.6642500758171082, 0.1366214007139206, 0.0, -0.0, 0.1404416412115097, 0.9036340713500977, -0.6624882221221924, 0.19214566051959991, 0.585176408290863, 0.06285072863101959, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.4859549403190613, -0.37952911853790283, -0.18187114596366882, 0.4183071255683899, 0.1366214007139206, 0.0, -0.0, 0.1404416412115097, 0.6018354296684265, -0.45795732736587524, 0.19423894584178925, 0.3344886898994446, 0.06483934819698334, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.2487863302230835, -0.20815925300121307, -0.1859356015920639, 0.18787187337875366, 0.13866235315799713, 0.0, -0.0, 0.1404416412115097, 0.40703830122947693, -0.25630468130111694, 0.09372661262750626, 0.09709330648183823, 0.03965021297335625, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.07785256952047348, -0.0714157372713089, -0.18860453367233276, 0.0502038337290287, 0.13866235315799713, 0.0, -0.0, 0.1404416412115097, 0.2850000858306885, -0.09365683794021606, 0.03045722469687462, -0.015385608188807964, 0.02660210058093071, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.013414436019957066, -0.009349984116852283, -0.1891278475522995, 0.022712087258696556, 0.1302543431520462, 0.0, -0.0, 0.1404416412115097, 0.2158869504928589, -0.02306096814572811, 0.017932431772351265, -0.04722090810537338, 0.025136804208159447, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.014391300268471241, -0.004692436195909977, -0.19364584982395172, 0.008024239912629128, 0.1145896390080452, 0.0, -0.0, 0.1404416412115097, 0.19411683082580566, -0.012315464206039906, 0.01592637225985527, -0.05937937647104263, 0.025136804208159447, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.02142123132944107, -0.004692436195909977, -0.19556468725204468, 0.0, 0.11162415891885757, 0.0, -0.0, 0.1404416412115097, 0.19186656177043915, -0.012036359868943691, 0.01592637225985527, -0.06347871571779251, 0.025136804208159447, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.023828504607081413, -0.004692436195909977, -0.19556468725204468, 0.0, 0.1098797544836998, 0.0, -0.0, 0.1404416412115097, 0.19186656177043915, -0.01027451641857624, 0.012263132259249687, -0.0651533380150795, 0.025136804208159447, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.023828504607081413, -0.004692436195909977, -0.19556468725204468, 0.0, 0.1098797544836998, 0.0, -0.0, 0.1404416412115097, 0.19186656177043915, -0.01027451641857624, 0.012263132259249687, -0.0651533380150795, 0.025136804208159447, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.023828504607081413, -0.004692436195909977, -0.19556468725204468, 0.0, 0.1098797544836998, 0.0, -0.0, 0.1404416412115097, 0.19186656177043915, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.025136804208159447, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.023828504607081413, -0.004692436195909977, -0.19556468725204468, 0.0, 0.1098797544836998, 0.0, -0.0, 0.1404416412115097, 0.19186656177043915, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.025136804208159447, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.02039203606545925, -0.004692436195909977, -0.19357606768608093, 0.0, 0.10944365710020065, 0.0, -0.0, 0.1404416412115097, 0.19186656177043915, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.025136804208159447, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, -0.004692436195909977, -0.18806377053260803, 0.024299491196870804, 0.10944365710020065, 0.0, -0.0, 0.1404416412115097, 0.19186656177043915, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.025136804208159447, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, -0.004692436195909977, -0.150681272149086, 0.06892124563455582, 0.10944365710020065, 0.0, -0.0, 0.1404416412115097, 0.19186656177043915, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.022869084030389786, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, -0.004692436195909977, -0.09426737576723099, 0.10578041523694992, 0.10489077121019363, 0.0, -0.0, 0.1404416412115097, 0.18801143765449524, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, -0.004692436195909977, -0.06916546076536179, 0.13292327523231506, 0.09852371364831924, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, -0.004692436195909977, -0.0517912358045578, 0.16735774278640747, 0.0886678546667099, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, -0.0011338599724695086, -0.025677567347884178, 0.1969602108001709, 0.051529575139284134, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.016606688499450684, 0.20821158587932587, 0.03678939491510391, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.016606688499450684, 0.20885701477527618, 0.03092821128666401, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.019397728145122528, 0.21051418781280518, 0.03092821128666401, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.021403787657618523, 0.21051418781280518, 0.04275524243712425, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.047029025852680206, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.04898275062441826, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.04898275062441826, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.04898275062441826, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.04898275062441826, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.051058586686849594, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.051058586686849594, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.051058586686849594, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.051058586686849594, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.051058586686849594, 0.0, -0.0, 0.1404416412115097, 0.18577860295772552, -0.00835567619651556, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.051058586686849594, 0.0, -0.0, 0.1404416412115097, 0.17562618851661682, -0.006367059890180826, 0.012263132259249687, -0.06738617271184921, 0.020985132083296776, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.051058586686849594, 0.0, -0.0, 0.11996238678693771, 0.1200496107339859, -0.004134227987378836, 0.012263132259249687, -0.0400514230132103, 0.009995412081480026, 0.00039999998989515007, -0.00039999998989515007, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.051058586686849594, 0.0, -0.0, 0.0745556578040123, 0.03656262531876564, -0.004134227987378836, 0.01615314371883869, 0.04451708868145943, 0.006210064049810171, 0.0001500000071246177, -0.0001500000071246177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21051418781280518, 0.051058586686849594, 0.0, -0.0, 0.012734119780361652, 0.007431143894791603, -0.004134227987378836, 0.01845575124025345, 0.09383127838373184, 0.006297283805906773, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.051058586686849594, 0.0, -0.0, -0.03195740655064583, 0.005861184094101191, -0.004134227987378836, 0.01845575124025345, 0.12978336215019226, 0.01781032420694828, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.051058586686849594, 0.0, -0.0, -0.04134228080511093, 0.005861184094101191, -0.004134227987378836, 0.014565739780664444, 0.1451340764760971, 0.022101547569036484, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.051058586686849594, 0.0, -0.0, -0.041865598410367966, 0.005861184094101191, -0.004134227987378836, 0.012612012214958668, 0.15690878033638, 0.02417738363146782, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.051058586686849594, 0.0, -0.0, -0.041865598410367966, 0.005861184094101191, -0.004134227987378836, 0.012612012214958668, 0.18722645938396454, 0.02417738363146782, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.051058586686849594, 0.0, -0.0, -0.041865598410367966, 0.005861184094101191, -0.004134227987378836, 0.012612012214958668, 0.21054908633232117, 0.02635788358747959, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.051058586686849594, 0.0, -0.0, -0.041865598410367966, 0.005861184094101191, -0.004134227987378836, 0.012612012214958668, 0.21245047450065613, 0.02620088867843151, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.051058586686849594, 0.0, -0.0, -0.041865598410367966, 0.005861184094101191, -0.004134227987378836, 0.0, 0.21245047450065613, 0.02620088867843151, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.051058586686849594, 0.0, -0.0, -0.041865598410367966, 0.005861184094101191, -0.004134227987378836, -0.014949508011341095, 0.21245047450065613, 0.02620088867843151, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.051058586686849594, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.02620088867843151, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.03387624770402908, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04106317460536957, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.043906547129154205, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.045633502304553986, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.045633502304553986, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.022084103897213936, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022031772881746292, 0.006942711770534515, 0.0, -0.023200519382953644, 0.21095028519630432, 0.052523884922266006, 0.0, -0.0, -0.040068868547677994, 0.005861184094101191, -0.004134227987378836, -0.02415993995964527, 0.21245047450065613, 0.04755234345793724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-aloha/000029/meta.json b/rc-table30-v2__rc-aloha/000029/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fca815cc5d193c6e6b3608e1c111826a06571e3c
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000029/meta.json
@@ -0,0 +1,133 @@
+{
+ "format_version": 8,
+ "prompt": "Bundle the objects together using the cloth on the table.",
+ "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "site",
+ "object_name": "gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ },
+ {
+ "object_type": "site",
+ "object_name": "fr_gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "fl_base_link",
+ "fl_link1",
+ "fl_link2",
+ "fl_link3",
+ "fl_link4",
+ "fl_link5",
+ "fl_link6",
+ "fl_link7",
+ "fl_link8"
+ ],
+ [
+ "fr_base_link",
+ "fr_link1",
+ "fr_link2",
+ "fr_link3",
+ "fr_link4",
+ "fr_link5",
+ "fr_link6",
+ "fr_link7",
+ "fr_link8"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "gripper_center",
+ "finger_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "fr_gripper_center",
+ "finger_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-aloha",
+ "source_repo_id": "rc-table30-v2/rc-aloha",
+ "episode_index": 7867,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "ALOHA"
+ }
+}
diff --git a/rc-table30-v2__rc-aloha/000029/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v2__rc-aloha/000029/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..30b013ec6b10e4436ca64adac1d131e78ce2c179
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000029/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
@@ -0,0 +1,308 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-aloha/000029/temporal.json b/rc-table30-v2__rc-aloha/000029/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..f70810d21d8cdfb68327794f5ef9af38fcb97ce7
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000029/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.005023872014135122, -0.0051634241826832294, 0.03485311195254326, 0.16032780706882477, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.005023872014135122, -0.0051634241826832294, 0.03485311195254326, 0.16032780706882477, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.005023872014135122, -0.0051634241826832294, 0.03485311195254326, 0.16032780706882477, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.005023872014135122, -0.0051634241826832294, 0.03485311195254326, 0.16032780706882477, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.005023872014135122, -0.0051634241826832294, 0.03485311195254326, 0.16032780706882477, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.005023872014135122, -0.0051634241826832294, 0.03485311195254326, 0.16032780706882477, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.005023872014135122, -0.0051634241826832294, 0.03485311195254326, 0.16032780706882477, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.005023872014135122, -0.0051634241826832294, 0.03485311195254326, 0.1513441503047943, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.005023872014135122, -0.0051634241826832294, 0.07424166053533554, 0.12817850708961487, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.037626709789037704, -0.03855124115943909, 0.1349118947982788, 0.12807384133338928, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.15814730525016785, -0.17880100011825562, 0.204094797372818, 0.2109851837158203, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.33621564507484436, -0.35282233357429504, 0.24910031259059906, 0.37551698088645935, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.5840076804161072, -0.5348156094551086, 0.26877716183662415, 0.5467298626899719, -0.009332540445029736, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.6801066994667053, -0.5528875589370728, 0.2705738842487335, 0.5401185750961304, -0.011547927744686604, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.1758878529071808, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.7887304425239563, -0.5600570440292358, 0.2705738842487335, 0.47505244612693787, -0.011547927744686604, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 0.8953830599784851, -0.6341940760612488, 0.2705738842487335, 0.495863139629364, -0.011547927744686604, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 1.0237709283828735, -0.7756823301315308, 0.2705738842487335, 0.5987478494644165, -0.01655435562133789, 0.0010499999625608325, -0.0010499999625608325, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.01400753203779459, 1.1843777894973755, -0.9282127022743225, 0.2705738842487335, 0.7390150427818298, -0.018420863896608353, 0.007000000216066837, -0.007000000216066837, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.016100812703371048, 1.3279244899749756, -1.0354235172271729, 0.2988157272338867, 0.8291307687759399, -0.018420863896608353, 0.013949999585747719, -0.013949999585747719, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.020217595621943474, 1.4553354978561401, -1.0721780061721802, 0.3914608061313629, 0.8107273578643799, -0.02463092841207981, 0.016699999570846558, -0.016699999570846558, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.02166544832289219, 1.5659129619598389, -1.0758761167526245, 0.456561803817749, 0.7214314937591553, -0.02700331248342991, 0.016850000247359276, -0.016850000247359276, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.02166544832289219, 1.653586506843567, -1.0861506462097168, 0.474075585603714, 0.6768795251846313, -0.02700331248342991, 0.016899999231100082, -0.016899999231100082, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.03938855230808258, 1.7322590351104736, -1.1190500259399414, 0.45026451349258423, 0.7125699520111084, -0.02700331248342991, 0.021700000390410423, -0.021700000390410423, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.09046458452939987, 1.8058377504348755, -1.1517400741577148, 0.3843959867954254, 0.773606538772583, 0.00739625608548522, 0.032600000500679016, -0.032600000500679016, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.16753217577934265, 1.867920994758606, -1.1864711046218872, 0.2676084041595459, 0.8073781132698059, 0.11352555453777313, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.2384769171476364, 1.903733491897583, -1.2101426124572754, 0.14138361811637878, 0.8141812682151794, 0.26087501645088196, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.2653755843639374, 1.9256432056427002, -1.2148699760437012, 0.06185642257332802, 0.8031043410301208, 0.41635340452194214, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.2673816382884979, 1.9545304775238037, -1.216562032699585, 0.04017353057861328, 0.7786827087402344, 0.5034687519073486, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.2673816382884979, 1.9874995946884155, -1.216562032699585, 0.037539489567279816, 0.7637157440185547, 0.5283264517784119, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.2673816382884979, 2.0162298679351807, -1.216562032699585, 0.037539489567279816, 0.7545751333236694, 0.533454954624176, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.2673816382884979, 2.0287373065948486, -1.216562032699585, 0.037539489567279816, 0.7422596216201782, 0.5351296067237854, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.2673816382884979, 2.0332727432250977, -1.216562032699585, 0.037539489567279816, 0.7355960607528687, 0.5301231741905212, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.2673816382884979, 2.0332727432250977, -1.216562032699585, 0.037539489567279816, 0.734950602054596, 0.5301231741905212, 0.032749999314546585, -0.032749999314546585, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.26392772793769836, 2.035034418106079, -1.216562032699585, 0.03258539363741875, 0.734950602054596, 0.5301231741905212, 0.028349999338388443, -0.028349999338388443, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.2548568546772003, 2.035034418106079, -1.216562032699585, 0.02996879257261753, 0.734950602054596, 0.5301231741905212, 0.025800000876188278, -0.025800000876188278, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.24737335741519928, 2.035034418106079, -1.216562032699585, 0.02996879257261753, 0.734950602054596, 0.5301231741905212, 0.01614999957382679, -0.01614999957382679, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.24500097334384918, 2.033202886581421, -1.2170155048370361, 0.02832905575633049, 0.7499175667762756, 0.5186973214149475, 0.0034000000450760126, -0.0034000000450760126, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.24500097334384918, 2.0115549564361572, -1.21870756149292, 0.02832905575633049, 0.7780896425247192, 0.5068877339363098, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.2724229395389557, 1.9456340074539185, -1.2225278615951538, 0.036231186240911484, 0.7871605157852173, 0.49954381585121155, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.34556564688682556, 1.8953603506088257, -1.270394206047058, 0.07165995240211487, 0.7671522498130798, 0.4969272315502167, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.47660496830940247, 1.9182991981506348, -1.367190957069397, 0.10171596705913544, 0.7430446147918701, 0.49553170800209045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.6151626706123352, 2.0235214233398438, -1.514540433883667, 0.15896716713905334, 0.762686550617218, 0.497345894575119, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.7216408252716064, 2.146484136581421, -1.659517526626587, 0.1923375427722931, 0.8121926188468933, 0.5115453004837036, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.7869511842727661, 2.248915433883667, -1.7833524942398071, 0.1946052610874176, 0.8786019682884216, 0.5554518699645996, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.810936689376831, 2.317574977874756, -1.8555357456207275, 0.1907327026128769, 0.9134027361869812, 0.6005620360374451, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.8116170167922974, 2.3558123111724854, -1.891365647315979, 0.19962914288043976, 0.9197174310684204, 0.6228728890419006, 0.0017000000225380063, -0.0017000000225380063, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.8116170167922974, 2.371634006500244, -1.8984304666519165, 0.20543798804283142, 0.9262589812278748, 0.6277746558189392, 0.007600000128149986, -0.007600000128149986, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.8116170167922974, 2.3736400604248047, -1.900070309638977, 0.2095547765493393, 0.9292767643928528, 0.6296935081481934, 0.017400000244379044, -0.017400000244379044, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.8116170167922974, 2.3736400604248047, -1.900070309638977, 0.21443909406661987, 0.931003749370575, 0.6314030289649963, 0.026350000873208046, -0.026350000873208046, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.8116170167922974, 2.3736400604248047, -1.900070309638977, 0.21609626710414886, 0.931003749370575, 0.6314030289649963, 0.03099999949336052, -0.03099999949336052, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.8116170167922974, 2.3736400604248047, -1.900070309638977, 0.22340530157089233, 0.9360275864601135, 0.6340894103050232, 0.033250000327825546, -0.033250000327825546, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.8116170167922974, 2.3736400604248047, -1.900070309638977, 0.2274872064590454, 0.9377196431159973, 0.6340894103050232, 0.033799998462200165, -0.033799998462200165, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.8116170167922974, 2.3736400604248047, -1.900070309638977, 0.22942349314689636, 0.940074622631073, 0.6340894103050232, 0.033799998462200165, -0.033799998462200165, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.8116170167922974, 2.362999200820923, -1.900070309638977, 0.22958047688007355, 0.9557393193244934, 0.6340894103050232, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.802319347858429, 2.3105623722076416, -1.900070309638977, 0.22773142158985138, 0.97588711977005, 0.588665246963501, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.025293799117207527, 0.0, -0.0, 0.7742170691490173, 2.22724986076355, -1.900070309638977, 0.22101548314094543, 1.0314462184906006, 0.49547937512397766, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.02330518327653408, 0.0, -0.0, 0.7243970036506653, 2.091221570968628, -1.900070309638977, 0.1366737335920334, 1.1566767692565918, 0.4009503424167633, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.02330518327653408, 0.0, -0.0, 0.6963295936584473, 1.983312964439392, -1.8924472332000732, 0.04355766624212265, 1.1954023838043213, 0.3635329604148865, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.02330518327653408, 0.0, -0.0, 0.6662386655807495, 1.8653043508529663, -1.82045578956604, 0.01475762389600277, 1.191442608833313, 0.3309824466705322, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, 0.011670036241412163, 0.17634139955043793, -0.026706764474511147, 0.0, -0.0, 0.6271815896034241, 1.7441034317016602, -1.6555925607681274, 0.023200519382953644, 1.1181429624557495, 0.2910705804824829, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, -0.01475762389600277, 0.17634139955043793, -0.026706764474511147, 0.0, -0.0, 0.5475148558616638, 1.6441144943237305, -1.4644412994384766, 0.14105218648910522, 1.0081236362457275, 0.183720201253891, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, -0.051128365099430084, 0.17400389909744263, -0.026706764474511147, 0.0, -0.0, 0.4322797656059265, 1.5742511749267578, -1.3015491962432861, 0.35270023345947266, 0.9277242422103882, 0.008495228365063667, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, -0.06991555541753769, 0.1531408727169037, -0.028991928324103355, 0.0, -0.0, 0.3270052373409271, 1.5523415803909302, -1.1774874925613403, 0.5015324354171753, 0.904384195804596, -0.11516528576612473, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, -0.07370089739561081, 0.12727142870426178, -0.028991928324103355, 0.0032500000670552254, -0.0032500000670552254, 0.2677130699157715, 1.5523415803909302, -1.0996522903442383, 0.5448633432388306, 0.8889985680580139, -0.14862288534641266, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, -0.07370089739561081, 0.09688397496938705, -0.028991928324103355, 0.01295000035315752, -0.01295000035315752, 0.25382763147354126, 1.5523415803909302, -1.0676774978637695, 0.5360715389251709, 0.8869750499725342, -0.15811242163181305, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, -0.07821889966726303, 0.0517912358045578, -0.03436468169093132, 0.026249999180436134, -0.026249999180436134, 0.2532694339752197, 1.5523415803909302, -1.063019871711731, 0.5322338938713074, 0.8802591562271118, -0.16048480570316315, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, 0.0, -0.11483385413885117, -0.015560047701001167, -0.08312065899372101, 0.03604999929666519, -0.03604999929666519, 0.2532694339752197, 1.5523415803909302, -1.063019871711731, 0.5393335819244385, 0.8508485555648804, -0.1624385267496109, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.007518364116549492, -0.009227875620126724, -0.1280040740966797, -0.03631840646266937, -0.11607237905263901, 0.035349998623132706, -0.035349998623132706, 0.2532694339752197, 1.5523415803909302, -1.063019871711731, 0.5443225502967834, 0.7958999276161194, -0.16453181207180023, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.05053526908159256, -0.10923432558774948, -0.1325743943452835, 0.0847778394818306, -0.1248292624950409, 0.03485000133514404, -0.03485000133514404, 0.2532694339752197, 1.5523415803909302, -1.063019871711731, 0.5555565357208252, 0.7339912056922913, -0.16453181207180023, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.19948957860469818, -0.290390282869339, -0.1373191624879837, 0.27645251154899597, -0.11504317820072174, 0.03485000133514404, -0.03485000133514404, 0.2532694339752197, 1.5548360347747803, -1.063019871711731, 0.5670171976089478, 0.6976379156112671, -0.16910213232040405, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.3891581892967224, -0.4904729425907135, -0.14693081378936768, 0.44536277651786804, -0.04432520270347595, 0.03485000133514404, -0.03485000133514404, 0.2532694339752197, 1.5826069116592407, -1.063019871711731, 0.5671393275260925, 0.681327760219574, -0.17983019351959229, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.5635982155799866, -0.6461431980133057, -0.14740179479122162, 0.5238084197044373, -0.015821708366274834, 0.03485000133514404, -0.03485000133514404, 0.2532694339752197, 1.6238445043563843, -1.063019871711731, 0.5671393275260925, 0.6752572655677795, -0.18457496166229248, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.003157363971695304, 0.7238038778305054, -0.6912882924079895, -0.14740179479122162, 0.5174587965011597, -0.007605583872646093, 0.032099999487400055, -0.032099999487400055, 0.2532694339752197, 1.6768568754196167, -1.063019871711731, 0.5920493602752686, 0.6628720164299011, -0.22101548314094543, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013920311816036701, 0.9150599241256714, -0.717401921749115, -0.13130098581314087, 0.5214534997940063, -0.03555087372660637, 0.02865000069141388, -0.02865000069141388, 0.2532694339752197, 1.7511508464813232, -1.0847899913787842, 0.6278095841407776, 0.6545686721801758, -0.26418939232826233, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.057565201073884964, 1.1715564727783203, -0.8238975405693054, -0.1530187726020813, 0.5588359832763672, -0.0066461642272770405, 0.02865000069141388, -0.02865000069141388, 0.2551533877849579, 1.8359112739562988, -1.1596596240997314, 0.6447476744651794, 0.6761468648910522, -0.27655717730522156, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.10450700670480728, 1.4270412921905518, -0.9823762774467468, -0.2637881636619568, 0.6350139379501343, 0.13855768740177155, 0.02865000069141388, -0.02865000069141388, 0.2551533877849579, 1.916223406791687, -1.2639573812484741, 0.6564525961875916, 0.7081915140151978, -0.28049951791763306, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1333070546388626, 1.6686581373214722, -1.166079044342041, -0.4341637194156647, 0.7576801180839539, 0.3162597119808197, 0.028449999168515205, -0.028449999168515205, 0.2551533877849579, 1.9883369207382202, -1.3595330715179443, 0.6831070184707642, 0.7389103770256042, -0.28049951791763306, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.13154520094394684, 1.8893072605133057, -1.344321846961975, -0.5180519223213196, 0.85062175989151, 0.4089745879173279, 0.028300000354647636, -0.028300000354647636, 0.25942716002464294, 2.0445938110351562, -1.4469797611236572, 0.6995741724967957, 0.7546274662017822, -0.28049951791763306, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11893319338560104, 2.0413143634796143, -1.4701977968215942, -0.5266517996788025, 0.8872890472412109, 0.4291572868824005, 0.028300000354647636, -0.028300000354647636, 0.26807940006256104, 2.096768856048584, -1.5365546941757202, 0.7017720937728882, 0.7719144225120544, -0.28049951791763306, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11441519856452942, 2.1478798389434814, -1.5521496534347534, -0.5290241837501526, 0.8908476233482361, 0.433361291885376, 0.028300000354647636, -0.028300000354647636, 0.2745685577392578, 2.146606206893921, -1.6077960729599, 0.7080519795417786, 0.782939076423645, -0.2713239789009094, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11441519856452942, 2.2214584350585938, -1.5988123416900635, -0.5290241837501526, 0.880852222442627, 0.43590810894966125, 0.028300000354647636, -0.028300000354647636, 0.2785457968711853, 2.189692974090576, -1.6602152585983276, 0.7120815515518188, 0.7971559166908264, -0.26467782258987427, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11411865055561066, 2.2576372623443604, -1.6132211685180664, -0.5290241837501526, 0.8526104092597961, 0.44300782680511475, 0.028300000354647636, -0.028300000354647636, 0.2794005572795868, 2.205200672149658, -1.6800665855407715, 0.7120815515518188, 0.8047614693641663, -0.26317763328552246, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11411865055561066, 2.2758662700653076, -1.6129419803619385, -0.5290241837501526, 0.8305437564849854, 0.45303812623023987, 0.028300000354647636, -0.028300000354647636, 0.2794005572795868, 2.205200672149658, -1.6846368312835693, 0.7135816812515259, 0.8071861863136292, -0.26317763328552246, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11411865055561066, 2.287658452987671, -1.6129419803619385, -0.5290241837501526, 0.8281539082527161, 0.4597540497779846, 0.028300000354647636, -0.028300000354647636, 0.2794005572795868, 2.205200672149658, -1.6869394779205322, 0.7142096757888794, 0.811460018157959, -0.26317763328552246, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11411865055561066, 2.290449619293213, -1.6151225566864014, -0.5312047004699707, 0.8281539082527161, 0.46031227707862854, 0.028300000354647636, -0.028300000354647636, 0.2794005572795868, 2.205200672149658, -1.6869394779205322, 0.7142096757888794, 0.811460018157959, -0.26317763328552246, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11411865055561066, 2.2912869453430176, -1.6151225566864014, -0.535164475440979, 0.8300029635429382, 0.4619694650173187, 0.027249999344348907, -0.027249999344348907, 0.2794005572795868, 2.205200672149658, -1.6869394779205322, 0.7142096757888794, 0.811460018157959, -0.26317763328552246, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11411865055561066, 2.2928566932678223, -1.6168146133422852, -0.535164475440979, 0.8300029635429382, 0.4619694650173187, 0.018850000575184822, -0.018850000575184822, 0.2794005572795868, 2.205200672149658, -1.6869394779205322, 0.7142096757888794, 0.811460018157959, -0.26317763328552246, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11411865055561066, 2.297915458679199, -1.6168146133422852, -0.535164475440979, 0.8279794454574585, 0.46425461769104004, 0.007350000087171793, -0.007350000087171793, 0.2794005572795868, 2.205200672149658, -1.6869394779205322, 0.7142096757888794, 0.811460018157959, -0.2598283886909485, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11411865055561066, 2.3003227710723877, -1.6168146133422852, -0.5331584215164185, 0.8279794454574585, 0.464708149433136, 0.0, -0.0, 0.2794005572795868, 2.205200672149658, -1.6869394779205322, 0.7142096757888794, 0.811460018157959, -0.2597237229347229, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.3010380268096924, -1.6168146133422852, -0.5315361022949219, 0.8279794454574585, 0.46643510460853577, 0.0, -0.0, 0.2794005572795868, 2.205200672149658, -1.6869394779205322, 0.7142096757888794, 0.8061221241950989, -0.2597237229347229, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.3010380268096924, -1.6168146133422852, -0.5315361022949219, 0.8298982977867126, 0.46643510460853577, 0.0, -0.0, 0.2794005572795868, 2.205200672149658, -1.6869394779205322, 0.7158843278884888, 0.7779500484466553, -0.2597237229347229, 0.03370000049471855, -0.03370000049471855, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.297217845916748, -1.6168146133422852, -0.5308732390403748, 0.8344162702560425, 0.46643510460853577, 0.0, -0.0, 0.2794005572795868, 2.211829423904419, -1.689538598060608, 0.7158843278884888, 0.7479812502861023, -0.25764787197113037, 0.03355000168085098, -0.03355000168085098, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.2776806354522705, -1.6168146133422852, -0.5290765166282654, 0.8365793228149414, 0.46643510460853577, 0.0, -0.0, 0.28294166922569275, 2.2435076236724854, -1.6907073259353638, 0.7158843278884888, 0.7287231087684631, -0.2307492345571518, 0.03350000083446503, -0.03350000083446503, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.255805730819702, -1.6168146133422852, -0.5290765166282654, 0.8365793228149414, 0.46643510460853577, 0.0, -0.0, 0.2928847670555115, 2.304788589477539, -1.6907073259353638, 0.7158843278884888, 0.7287231087684631, -0.21313078701496124, 0.03350000083446503, -0.03350000083446503, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.253660202026367, -1.6168146133422852, -0.5290765166282654, 0.8385679721832275, 0.46643510460853577, 0.0, -0.0, 0.31053808331489563, 2.349235773086548, -1.6907073259353638, 0.7158843278884888, 0.7305721640586853, -0.21065373718738556, 0.03350000083446503, -0.03350000083446503, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.253660202026367, -1.6168146133422852, -0.5290765166282654, 0.8452664613723755, 0.46643510460853577, 0.0, -0.0, 0.3177424669265747, 2.353858470916748, -1.6913353204727173, 0.7148900032043457, 0.7096742391586304, -0.21065373718738556, 0.03350000083446503, -0.03350000083446503, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.253660202026367, -1.6168146133422852, -0.5290765166282654, 0.8468887805938721, 0.46643510460853577, 0.0, -0.0, 0.3177424669265747, 2.3555853366851807, -1.6913353204727173, 0.721623420715332, 0.7054004669189453, -0.2088395655155182, 0.03280000016093254, -0.03280000016093254, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.253660202026367, -1.6168146133422852, -0.5290765166282654, 0.8468887805938721, 0.46643510460853577, 0.0, -0.0, 0.3177424669265747, 2.3555853366851807, -1.6913353204727173, 0.7317758202552795, 0.7072495222091675, -0.2063799649477005, 0.027049999684095383, -0.027049999684095383, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.253660202026367, -1.6168146133422852, -0.5290765166282654, 0.8468887805938721, 0.46643510460853577, 0.0, -0.0, 0.3177424669265747, 2.3634352684020996, -1.6913353204727173, 0.7432016134262085, 0.7113488912582397, -0.2063799649477005, 0.01769999973475933, -0.01769999973475933, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.253660202026367, -1.6168146133422852, -0.5290765166282654, 0.8468887805938721, 0.46643510460853577, 0.0, -0.0, 0.3177424669265747, 2.3696279525756836, -1.6913353204727173, 0.7451553344726562, 0.7187974452972412, -0.20444367825984955, 0.008150000125169754, -0.008150000125169754, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.253660202026367, -1.6168146133422852, -0.5290765166282654, 0.8468887805938721, 0.46643510460853577, 0.0, -0.0, 0.320027619600296, 2.373081684112549, -1.6913353204727173, 0.7466555237770081, 0.7231235504150391, -0.202402725815773, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.253660202026367, -1.6168146133422852, -0.5290765166282654, 0.8468887805938721, 0.46643510460853577, 0.0, -0.0, 0.320027619600296, 2.373081684112549, -1.6913353204727173, 0.7492895722389221, 0.7141748070716858, -0.202402725815773, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.251095771789551, -1.6168146133422852, -0.5290765166282654, 0.8468887805938721, 0.46643510460853577, 0.0, -0.0, 0.320027619600296, 2.360661745071411, -1.6913353204727173, 0.7492895722389221, 0.7121338844299316, -0.202402725815773, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.222592353820801, -1.6115639209747314, -0.5290765166282654, 0.8645246624946594, 0.47458145022392273, 0.0, -0.0, 0.320027619600296, 2.314469814300537, -1.680328130722046, 0.7492895722389221, 0.7192510366439819, -0.21749179065227509, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11253124475479126, 2.1499032974243164, -1.5577143430709839, -0.5290765166282654, 0.8641408681869507, 0.5025442242622375, 0.0, -0.0, 0.32906362414360046, 2.2349252700805664, -1.6244027614593506, 0.7492895722389221, 0.7258971929550171, -0.24459977447986603, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 2.04972243309021, -1.4480787515640259, -0.5286229848861694, 0.8641408681869507, 0.5502535104751587, 0.0, -0.0, 0.3539387583732605, 2.1394543647766113, -1.519860863685608, 0.751975953578949, 0.7273973822593689, -0.25696757435798645, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.938551664352417, -1.2924957275390625, -0.4873155951499939, 0.8641408681869507, 0.5811817646026611, 0.0, -0.0, 0.39430418610572815, 2.0298709869384766, -1.3573176860809326, 0.7538948059082031, 0.7119594216346741, -0.2792260944843292, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.8725610971450806, -1.190919280052185, -0.46873772144317627, 0.8604252934455872, 0.5863102674484253, 0.0, -0.0, 0.40696853399276733, 1.957478404045105, -1.264724850654602, 0.7538948059082031, 0.703411877155304, -0.2964433431625366, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.8321607112884521, -1.1166253089904785, -0.4622485637664795, 0.860093891620636, 0.5886826515197754, 0.0, -0.0, 0.40942811965942383, 1.911949634552002, -1.2037057876586914, 0.7538948059082031, 0.6987019777297974, -0.30083921551704407, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.8278172016143799, -1.0768181085586548, -0.4622485637664795, 0.8488075733184814, 0.5891711115837097, 0.0, -0.0, 0.4112946391105652, 1.9047452211380005, -1.166602373123169, 0.7538948059082031, 0.6966261267662048, -0.30315926671028137, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.8278172016143799, -1.054175853729248, -0.46019017696380615, 0.8365095853805542, 0.5891711115837097, 0.0, -0.0, 0.4112946391105652, 1.9047452211380005, -1.145774245262146, 0.7538948059082031, 0.6928582191467285, -0.30315926671028137, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.8278172016143799, -1.0436744689941406, -0.45101460814476013, 0.8230602741241455, 0.5891711115837097, 0.0, -0.0, 0.4136146903038025, 1.9047452211380005, -1.1361626386642456, 0.7538948059082031, 0.6867005228996277, -0.30315926671028137, 0.0010000000474974513, -0.0010000000474974513, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.8278172016143799, -1.0436744689941406, -0.4464966356754303, 0.8110413551330566, 0.5891711115837097, 0.004149999935179949, -0.004149999935179949, 0.42640113830566406, 1.9047452211380005, -1.1323598623275757, 0.7538948059082031, 0.6867005228996277, -0.3070144057273865, 0.008299999870359898, -0.008299999870359898, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.8278172016143799, -1.0436744689941406, -0.4440195858478546, 0.8090178370475769, 0.5891711115837097, 0.023350000381469727, -0.023350000381469727, 0.4455720782279968, 1.9047452211380005, -1.1323598623275757, 0.7538948059082031, 0.6867005228996277, -0.3070144057273865, 0.022700000554323196, -0.022700000554323196, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.8255668878555298, -1.049117088317871, -0.43447771668434143, 0.8472376465797424, 0.5692500472068787, 0.036649998277425766, -0.036649998277425766, 0.4616380035877228, 1.8983083963394165, -1.1303712129592896, 0.7538948059082031, 0.6972715854644775, -0.3070144057273865, 0.02905000001192093, -0.02905000001192093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.770251989364624, -1.0778473615646362, -0.38193637132644653, 0.9204675555229187, 0.4951305091381073, 0.03824999928474426, -0.03824999928474426, 0.44531044363975525, 1.8355623483657837, -1.1303712129592896, 0.7414746880531311, 0.7072669863700867, -0.3070144057273865, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.676141619682312, -1.0859413146972656, -0.36061981320381165, 0.9561928510665894, 0.4478398263454437, 0.03525000065565109, -0.03525000065565109, 0.4298899471759796, 1.7591053247451782, -1.1303712129592896, 0.7114360928535461, 0.7348982691764832, -0.3070144057273865, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.5606623888015747, -1.0595136880874634, -0.343786358833313, 0.9893190264701843, 0.39732199907302856, 0.029400000348687172, -0.029400000348687172, 0.4215168058872223, 1.680415391921997, -1.1303712129592896, 0.6672155857086182, 0.7765021920204163, -0.2925533354282379, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.11029841005802155, 1.4704245328903198, -0.9546229243278503, -0.31749823689460754, 1.0006227493286133, 0.3380995988845825, 0.026900000870227814, -0.026900000870227814, 0.42376708984375, 1.6188206672668457, -1.1153693199157715, 0.6429160833358765, 0.8076571822166443, -0.28588971495628357, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.09379638731479645, 1.4420082569122314, -0.7924460172653198, -0.2665617763996124, 0.9773349761962891, 0.2738533616065979, 0.026900000870227814, -0.026900000870227814, 0.4373210668563843, 1.569157600402832, -1.0626710653305054, 0.638607382774353, 0.8094015717506409, -0.28588971495628357, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.05156446248292923, 1.4771230220794678, -0.6652792692184448, -0.23645341396331787, 0.9057447910308838, 0.2078801542520523, 0.026900000870227814, -0.026900000870227814, 0.44909578561782837, 1.5439335107803345, -0.9932788014411926, 0.6413112282752991, 0.7820668816566467, -0.28588971495628357, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.009262763895094395, 1.5365198850631714, -0.6272687911987305, -0.23434269428253174, 0.8356373906135559, 0.18961627781391144, 0.026900000870227814, -0.026900000870227814, 0.453439325094223, 1.5420844554901123, -0.933759868144989, 0.6498239040374756, 0.7500222325325012, -0.28588971495628357, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02009548805654049, 1.5961434841156006, -0.6252976059913635, -0.21719524264335632, 0.805145263671875, 0.1664506494998932, 0.026900000870227814, -0.026900000870227814, 0.453439325094223, 1.5420844554901123, -0.9013489484786987, 0.6517950892448425, 0.7239434719085693, -0.2818950414657593, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6399627923965454, -0.624739408493042, -0.1748935431241989, 0.7976966500282288, 0.13205108046531677, 0.026900000870227814, -0.026900000870227814, 0.453439325094223, 1.5420844554901123, -0.8891904354095459, 0.6536615490913391, 0.7159017324447632, -0.277673602104187, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6539877653121948, -0.6230473518371582, -0.16022314131259918, 0.7957952618598938, 0.11329878121614456, 0.025849999859929085, -0.025849999859929085, 0.453439325094223, 1.5420844554901123, -0.8875332474708557, 0.6572201251983643, 0.7094300389289856, -0.2706087827682495, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6563427448272705, -0.6190526485443115, -0.16022314131259918, 0.7939462065696716, 0.10883311927318573, 0.021549999713897705, -0.021549999713897705, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6598716378211975, 0.7035514116287231, -0.2706087827682495, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6563427448272705, -0.6040508151054382, -0.16022314131259918, 0.7921494841575623, 0.10719338059425354, 0.017149999737739563, -0.017149999737739563, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6598716378211975, 0.7012138962745667, -0.2706087827682495, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6563427448272705, -0.5982071161270142, -0.1624385267496109, 0.7899340987205505, 0.10719338059425354, 0.015200000256299973, -0.015200000256299973, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6598716378211975, 0.7012138962745667, -0.2627240717411041, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6563427448272705, -0.5972999930381775, -0.1624385267496109, 0.780043363571167, 0.10719338059425354, 0.015200000256299973, -0.015200000256299973, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6598716378211975, 0.7012138962745667, -0.2627764046192169, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6563427448272705, -0.5972999930381775, -0.1624385267496109, 0.7676929831504822, 0.10719338059425354, 0.015200000256299973, -0.015200000256299973, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6598716378211975, 0.7012138962745667, -0.2627764046192169, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6563427448272705, -0.5972999930381775, -0.1624385267496109, 0.760977029800415, 0.105169877409935, 0.015200000256299973, -0.015200000256299973, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6598716378211975, 0.7012138962745667, -0.2627764046192169, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6563427448272705, -0.5972999930381775, -0.16046735644340515, 0.7596164345741272, 0.10309404134750366, 0.014800000004470348, -0.014800000004470348, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6598716378211975, 0.7012138962745667, -0.2627764046192169, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6563427448272705, -0.5972999930381775, -0.16046735644340515, 0.7596164345741272, 0.10309404134750366, 0.013749999925494194, -0.013749999925494194, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6598716378211975, 0.7012138962745667, -0.2627764046192169, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6578254699707031, -0.5972999930381775, -0.15650756657123566, 0.7596164345741272, 0.10309404134750366, 0.013500000350177288, -0.013500000350177288, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6598716378211975, 0.7012138962745667, -0.2627764046192169, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.674903154373169, -0.5972999930381775, -0.15650756657123566, 0.7587442398071289, 0.1012275293469429, 0.010700000450015068, -0.010700000450015068, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6598716378211975, 0.7012138962745667, -0.2627764046192169, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.694335699081421, -0.5972999930381775, -0.15401308238506317, 0.7611514925956726, 0.09231364727020264, 0.0042500002309679985, -0.0042500002309679985, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6624882221221924, 0.7012138962745667, -0.2627764046192169, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.7006853818893433, -0.6053766012191772, -0.1468261480331421, 0.7701526284217834, 0.08983659744262695, 0.0, -0.0, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6624882221221924, 0.7012138962745667, -0.2627764046192169, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.7032321691513062, -0.6073651909828186, -0.1468261480331421, 0.777147650718689, 0.08983659744262695, 0.0, -0.0, 0.453439325094223, 1.5420844554901123, -0.8869576454162598, 0.6624882221221924, 0.7012138962745667, -0.2627764046192169, 0.030249999836087227, -0.030249999836087227, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6939868927001953, -0.6121622920036316, -0.14864031970500946, 0.7908760905265808, 0.08929583430290222, 0.0, -0.0, 0.4553058445453644, 1.5420844554901123, -0.8869576454162598, 0.6632557511329651, 0.7097440361976624, -0.23868624866008759, 0.030150000005960464, -0.030150000005960464, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6643146276474, -0.6121622920036316, -0.150681272149086, 0.8028600811958313, 0.09189499169588089, 0.0, -0.0, 0.4754187762737274, 1.5398516654968262, -0.8658678531646729, 0.6632557511329651, 0.7125001549720764, -0.17168384790420532, 0.030150000005960464, -0.030150000005960464, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6367530822753906, -0.6121622920036316, -0.150681272149086, 0.8091225028038025, 0.09541867673397064, 0.0, -0.0, 0.5442178845405579, 1.5382293462753296, -0.792201817035675, 0.6632557511329651, 0.6656281352043152, -0.09297651797533035, 0.03009999915957451, -0.03009999915957451, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6258156299591064, -0.6121622920036316, -0.150681272149086, 0.8116344213485718, 0.09754684567451477, 0.0, -0.0, 0.6443290114402771, 1.5382293462753296, -0.7093602418899536, 0.654516339302063, 0.6100690364837646, 0.0, 0.02889999933540821, -0.02889999933540821, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6121622920036316, -0.150681272149086, 0.8116344213485718, 0.09953546524047852, 0.0, -0.0, 0.7240830063819885, 1.553039312362671, -0.6730069518089294, 0.6344557404518127, 0.5401185750961304, 0.11167648434638977, 0.025200000032782555, -0.025200000032782555, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6121622920036316, -0.1546061784029007, 0.8116344213485718, 0.09953546524047852, 0.0, -0.0, 0.7719493508338928, 1.5900554656982422, -0.6681401133537292, 0.6325368881225586, 0.4898275136947632, 0.16128721833229065, 0.020500000566244125, -0.020500000566244125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6121622920036316, -0.15448406338691711, 0.8116344213485718, 0.09953546524047852, 0.0, -0.0, 0.7931263446807861, 1.6260948181152344, -0.6681401133537292, 0.6410495638847351, 0.4669235348701477, 0.17873121798038483, 0.018799999728798866, -0.018799999728798866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6121622920036316, -0.15448406338691711, 0.8116344213485718, 0.09953546524047852, 0.0, -0.0, 0.7970163822174072, 1.662011981010437, -0.6681401133537292, 0.6476782560348511, 0.4465315043926239, 0.1828131228685379, 0.018799999728798866, -0.018799999728798866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6121622920036316, -0.15448406338691711, 0.8116344213485718, 0.09953546524047852, 0.0, -0.0, 0.7970163822174072, 1.688509464263916, -0.6664829254150391, 0.6515159606933594, 0.43904802203178406, 0.1828131228685379, 0.018799999728798866, -0.018799999728798866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6121622920036316, -0.15448406338691711, 0.8116344213485718, 0.10115775465965271, 0.0, -0.0, 0.7970163822174072, 1.701644778251648, -0.6664829254150391, 0.6551617383956909, 0.4348265826702118, 0.1828131228685379, 0.018799999728798866, -0.018799999728798866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6121622920036316, -0.15448406338691711, 0.8116344213485718, 0.10349525511264801, 0.0, -0.0, 0.7970163822174072, 1.7073838710784912, -0.6664829254150391, 0.6621742248535156, 0.42102837562561035, 0.1828131228685379, 0.018799999728798866, -0.018799999728798866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6121622920036316, -0.15448406338691711, 0.8116344213485718, 0.10349525511264801, 0.0, -0.0, 0.7993015050888062, 1.709075927734375, -0.6664829254150391, 0.6621742248535156, 0.4056253433227539, 0.1828131228685379, 0.018799999728798866, -0.018799999728798866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6121622920036316, -0.15448406338691711, 0.8116344213485718, 0.10349525511264801, 0.0, -0.0, 0.7993015050888062, 1.7220368385314941, -0.6664829254150391, 0.6675644516944885, 0.39433905482292175, 0.1828131228685379, 0.018799999728798866, -0.018799999728798866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6121622920036316, -0.15448406338691711, 0.8116344213485718, 0.10349525511264801, 0.0, -0.0, 0.7993015050888062, 1.7428300380706787, -0.6664829254150391, 0.6724138855934143, 0.39421695470809937, 0.1828131228685379, 0.018449999392032623, -0.018449999392032623, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6137148141860962, -0.15448406338691711, 0.8116344213485718, 0.10349525511264801, 0.0, -0.0, 0.7997201681137085, 1.7444871664047241, -0.6664829254150391, 0.6762515306472778, 0.3915829062461853, 0.1828131228685379, 0.012649999931454659, -0.012649999931454659, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6137148141860962, -0.15448406338691711, 0.8116344213485718, 0.10349525511264801, 0.0, -0.0, 0.8016738891601562, 1.7489702701568604, -0.6664829254150391, 0.6762515306472778, 0.3915829062461853, 0.1828131228685379, 0.0010499999625608325, -0.0010499999625608325, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6137148141860962, -0.15643779933452606, 0.8116344213485718, 0.10349525511264801, 0.0, -0.0, 0.8016738891601562, 1.7507147789001465, -0.6664829254150391, 0.6762515306472778, 0.3915829062461853, 0.1828131228685379, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6261471509933472, -0.6143951416015625, -0.15643779933452606, 0.8231823444366455, 0.10349525511264801, 0.0, -0.0, 0.8016738891601562, 1.7382596731185913, -0.6664829254150391, 0.6762515306472778, 0.393833190202713, 0.17215482890605927, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6018999814987183, -0.6237450838088989, -0.1546236127614975, 0.8435220718383789, 0.10349525511264801, 0.0, -0.0, 0.7853288650512695, 1.6822121143341064, -0.6664829254150391, 0.6684889793395996, 0.4095327854156494, 0.16575288772583008, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.5545395612716675, -0.6540802121162415, -0.14802978932857513, 0.8548955321311951, 0.10349525511264801, 0.0, -0.0, 0.7497605681419373, 1.6141282320022583, -0.6742454767227173, 0.6454454660415649, 0.4434264898300171, 0.1641131490468979, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.514540433883667, -0.7073891162872314, -0.14802978932857513, 0.889801025390625, 0.10349525511264801, 0.0, -0.0, 0.7092032432556152, 1.5699949264526367, -0.7058016657829285, 0.6319786906242371, 0.47833192348480225, 0.1641131490468979, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.503288984298706, -0.7707631587982178, -0.14405255019664764, 0.9148505926132202, 0.10349525511264801, 0.0, -0.0, 0.6696925759315491, 1.5616217851638794, -0.7606281638145447, 0.6277223229408264, 0.4989681839942932, 0.14635516703128815, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.5120981931686401, -0.8253628611564636, -0.13953456282615662, 0.8867831826210022, 0.10349525511264801, 0.0, -0.0, 0.635450005531311, 1.5771468877792358, -0.8174781799316406, 0.6209715008735657, 0.5014975666999817, 0.11802610754966736, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.552393913269043, -0.8649781942367554, -0.13747616112232208, 0.8300901651382446, 0.10349525511264801, 0.0, -0.0, 0.6000387072563171, 1.6142503023147583, -0.8667749166488647, 0.6170815229415894, 0.4921301305294037, 0.10687939077615738, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6158900260925293, -0.8854225277900696, -0.13747616112232208, 0.7726296186447144, 0.10349525511264801, 0.0, -0.0, 0.5691105127334595, 1.6694780588150024, -0.9066693186759949, 0.6150754690170288, 0.47833192348480225, 0.10032044351100922, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6736645698547363, -0.8903940916061401, -0.13747616112232208, 0.7234898805618286, 0.10349525511264801, 0.0, -0.0, 0.5494685769081116, 1.719664454460144, -0.9327830076217651, 0.6135403513908386, 0.4497586488723755, 0.09690141677856445, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.715251088142395, -0.8910918235778809, -0.13747616112232208, 0.6874157190322876, 0.10349525511264801, 0.0, -0.0, 0.5459274053573608, 1.7611113786697388, -0.9393768310546875, 0.6111505627632141, 0.40044447779655457, 0.09690141677856445, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.7364978790283203, -0.8910918235778809, -0.1451515257358551, 0.6614241600036621, 0.10349525511264801, 0.0, -0.0, 0.5441830158233643, 1.7845560312271118, -0.9416794776916504, 0.618040919303894, 0.3725689649581909, 0.09690141677856445, 0.0008999999845400453, -0.0008999999845400453, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.7388876676559448, -0.8910918235778809, -0.16135700047016144, 0.6385725140571594, 0.10349525511264801, 0.002199999988079071, -0.002199999988079071, 0.5441830158233643, 1.7933827638626099, -0.9433192014694214, 0.6244080066680908, 0.3547411859035492, 0.09690141677856445, 0.0070500001311302185, -0.0070500001311302185, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.7388876676559448, -0.8910918235778809, -0.17084653675556183, 0.6269199252128601, 0.10349525511264801, 0.012249999679625034, -0.012249999679625034, 0.5441830158233643, 1.7933827638626099, -0.9433192014694214, 0.6244080066680908, 0.34792056679725647, 0.09690141677856445, 0.01614999957382679, -0.01614999957382679, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.7388876676559448, -0.8927664756774902, -0.17311425507068634, 0.6255592703819275, 0.10349525511264801, 0.025299999862909317, -0.025299999862909317, 0.5441830158233643, 1.7933827638626099, -0.9433192014694214, 0.6244080066680908, 0.34244316816329956, 0.09690141677856445, 0.0243500005453825, -0.0243500005453825, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.7388876676559448, -0.9176590442657471, -0.17311425507068634, 0.6315076947212219, 0.10349525511264801, 0.03480000048875809, -0.03480000048875809, 0.5395603775978088, 1.7933827638626099, -0.9580593705177307, 0.6244080066680908, 0.3478507995605469, 0.09447670727968216, 0.028300000354647636, -0.028300000354647636, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.721827507019043, -0.9737066626548767, -0.17311425507068634, 0.6815894246101379, 0.10349525511264801, 0.035599999129772186, -0.035599999129772186, 0.519778847694397, 1.7798811197280884, -0.9988957643508911, 0.6244080066680908, 0.38244226574897766, 0.0745905414223671, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6796129941940308, -1.0548038482666016, -0.17311425507068634, 0.75658118724823, 0.10140196979045868, 0.028699999675154686, -0.028699999675154686, 0.48769935965538025, 1.7425509691238403, -1.0521697998046875, 0.5944566130638123, 0.4325762987136841, 0.05868161469697952, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6268099546432495, -1.1164509057998657, -0.19812895357608795, 0.8202692270278931, 0.12357329577207565, 0.013799999840557575, -0.013799999840557575, 0.4534916579723358, 1.702639102935791, -1.0930410623550415, 0.5464158654212952, 0.505527138710022, 0.05538469925522804, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.5760130882263184, -1.1320806741714478, -0.2840580940246582, 0.8735780715942383, 0.2055949866771698, 0.0, -0.0, 0.41729536652565, 1.6616805791854858, -1.1074846982955933, 0.4905950427055359, 0.5650286078453064, 0.05280298739671707, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.5547139644622803, -1.1026177406311035, -0.4117830693721771, 0.8942143321037292, 0.32288843393325806, 0.0, -0.0, 0.3649633824825287, 1.6289905309677124, -1.1091941595077515, 0.4418739676475525, 0.6393051743507385, 0.03562064841389656, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.5598948001861572, -1.0376039743423462, -0.5706979036331177, 0.9030933380126953, 0.44520577788352966, 0.0, -0.0, 0.30486878752708435, 1.6129419803619385, -1.0995302200317383, 0.42907005548477173, 0.7122908234596252, -0.01514139212667942, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028991928324103355, 1.6010103225708008, -0.9686827659606934, -0.7251121997833252, 0.9080648422241211, 0.5833622217178345, 0.0, -0.0, 0.241704061627388, 1.6110929250717163, -1.0487158298492432, 0.4746861159801483, 0.7416142225265503, -0.09555823355913162, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.031346868723630905, 1.674623966217041, -0.9419934153556824, -0.8027205467224121, 0.8976682424545288, 0.6565921306610107, 0.0, -0.0, 0.1913606822490692, 1.6155935525894165, -0.9765499830245972, 0.585891604423523, 0.7437249422073364, -0.2072696089744568, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04589516296982765, 1.755860686302185, -0.9395686984062195, -0.8386203050613403, 0.8542850017547607, 0.7032025456428528, 0.0, -0.0, 0.1804407387971878, 1.637171745300293, -0.921409547328949, 0.7237515449523926, 0.7437249422073364, -0.3233594298362732, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.0902029275894165, 1.8329108953475952, -0.9553381204605103, -0.8543547987937927, 0.8430859446525574, 0.73140949010849, 0.0, -0.0, 0.17859166860580444, 1.6732285022735596, -0.9004244208335876, 0.8571458458900452, 0.7437249422073364, -0.42104583978652954, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1387844681739807, 1.8809516429901123, -0.9756254553794861, -0.8626581430435181, 0.82853764295578, 0.7437772750854492, 0.0, -0.0, 0.17859166860580444, 1.712355375289917, -0.8979124426841736, 0.9553729891777039, 0.7413002252578735, -0.47662240266799927, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.16683441400527954, 1.9032450914382935, -0.9889875650405884, -0.8828059434890747, 0.8030170798301697, 0.7473358511924744, 0.0, -0.0, 0.17859166860580444, 1.7437022924423218, -0.8979124426841736, 1.0090830326080322, 0.7390848398208618, -0.5105161070823669, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9165897369384766, -0.9994016289710999, -0.9013663530349731, 0.788189709186554, 0.7508072257041931, 0.0, -0.0, 0.17859166860580444, 1.7717870473861694, -0.8979124426841736, 1.0351444482803345, 0.7348459362983704, -0.5285531878471375, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9402961730957031, -1.0011111497879028, -0.9059367179870605, 0.783392608165741, 0.7605409622192383, 0.0, -0.0, 0.17859166860580444, 1.7992089986801147, -0.8979124426841736, 1.0427849292755127, 0.7328747510910034, -0.5359145402908325, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9677529335021973, -1.0011111497879028, -0.9223340749740601, 0.783392608165741, 0.7702746987342834, 0.0, -0.0, 0.17859166860580444, 1.8337132930755615, -0.8979124426841736, 1.0687415599822998, 0.7310606241226196, -0.5661973357200623, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9756202697753906, -1.0053675174713135, -0.9319806098937988, 0.789759635925293, 0.7726122140884399, 0.0, -0.0, 0.19197121262550354, 1.8613096475601196, -0.8979124426841736, 1.1069090366363525, 0.7291417717933655, -0.6051323413848877, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.978201985359192, -1.0087865591049194, -0.9319806098937988, 0.7937718033790588, 0.7726122140884399, 0.0, -0.0, 0.22352741658687592, 1.8850510120391846, -0.8979124426841736, 1.1707191467285156, 0.7273101210594177, -0.6617381572723389, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.934091329574585, 0.8003306984901428, 0.7726122140884399, 0.0, -0.0, 0.25471729040145874, 1.923794150352478, -0.8979124426841736, 1.2650911808013916, 0.7273101210594177, -0.7379684448242188, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8003306984901428, 0.7726122140884399, 0.0, -0.0, 0.260648250579834, 1.9634791612625122, -0.8979124426841736, 1.3161498308181763, 0.724833071231842, -0.7792583703994751, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8008714914321899, 0.7726122140884399, 0.0, -0.0, 0.260648250579834, 1.9890869855880737, -0.8979124426841736, 1.3256218433380127, 0.7127618193626404, -0.8008191585540771, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8008714914321899, 0.7726122140884399, 0.0, -0.0, 0.260648250579834, 2.008624315261841, -0.8979124426841736, 1.33755362033844, 0.7085403800010681, -0.8180538415908813, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8008714914321899, 0.7726122140884399, 0.0, -0.0, 0.2634567320346832, 2.0173985958099365, -0.8979124426841736, 1.3582944869995117, 0.7165646553039551, -0.8352535963058472, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8008714914321899, 0.7726122140884399, 0.0, -0.0, 0.2800983190536499, 2.0212013721466064, -0.8996742963790894, 1.3809542655944824, 0.7165646553039551, -0.8529592752456665, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8008714914321899, 0.7726122140884399, 0.0, -0.0, 0.2997925877571106, 2.023120164871216, -0.9074369072914124, 1.3852977752685547, 0.7165646553039551, -0.856936514377594, 0.02850000001490116, -0.02850000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8008714914321899, 0.7726122140884399, 0.0, -0.0, 0.31962642073631287, 2.028841972351074, -0.9188801646232605, 1.3852977752685547, 0.7165646553039551, -0.856936514377594, 0.02824999950826168, -0.02824999950826168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8008714914321899, 0.7726122140884399, 0.0, -0.0, 0.324859619140625, 2.031266689300537, -0.9270962476730347, 1.3852977752685547, 0.7116977572441101, -0.8548083305358887, 0.02824999950826168, -0.02824999950826168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8008714914321899, 0.7726122140884399, 0.0, -0.0, 0.324859619140625, 2.0331854820251465, -0.9287534356117249, 1.3852977752685547, 0.7110872268676758, -0.8533430099487305, 0.02824999950826168, -0.02824999950826168, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7726122140884399, 0.0, -0.0, 0.32930782437324524, 2.0331854820251465, -0.9287534356117249, 1.3852977752685547, 0.7110872268676758, -0.8533430099487305, 0.026399999856948853, -0.026399999856948853, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7726122140884399, 0.0, -0.0, 0.3337385952472687, 2.0331854820251465, -0.9287534356117249, 1.3852977752685547, 0.6996963024139404, -0.8533430099487305, 0.01510000042617321, -0.01510000042617321, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.3357446789741516, 2.0331854820251465, -0.9287534356117249, 1.3852977752685547, 0.6951085329055786, -0.8533430099487305, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.32920315861701965, 2.0331854820251465, -0.9343180656433105, 1.3852977752685547, 0.7071797847747803, -0.8533430099487305, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.30947399139404297, 2.0219340324401855, -0.9506980180740356, 1.3852977752685547, 0.7688791751861572, -0.852592945098877, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.2972806394100189, 2.001070976257324, -0.9813645482063293, 1.3852977752685547, 0.8638268709182739, -0.8485633730888367, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.2956234812736511, 1.9889997243881226, -1.0189040899276733, 1.3908101320266724, 0.9427260756492615, -0.8294970989227295, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.3085669279098511, 1.9875519275665283, -1.0459421873092651, 1.4183367490768433, 0.9928426742553711, -0.810936689376831, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.3311394453048706, 1.9875519275665283, -1.0594264268875122, 1.4605512619018555, 1.000709891319275, -0.8036799430847168, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.36061981320381165, 1.9875519275665283, -1.0727187395095825, 1.4963288307189941, 1.000709891319275, -0.8036799430847168, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.40000835061073303, 1.9896626472473145, -1.0795917510986328, 1.5390143394470215, 0.9893364310264587, -0.8016913533210754, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.44140297174453735, 2.007629871368408, -1.0862553119659424, 1.615471363067627, 0.9618621468544006, -0.8016913533210754, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.478645920753479, 2.0431110858917236, -1.0862553119659424, 1.694091558456421, 0.9235376715660095, -0.8016913533210754, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1717710644006729, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.5087019205093384, 2.0863373279571533, -1.093913197517395, 1.7214959859848022, 0.8967088460922241, -0.7970337867736816, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1671135127544403, 1.9789694547653198, -1.0087865591049194, -0.9359752535820007, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.5344492793083191, 2.1223766803741455, -1.1060543060302734, 1.7317705154418945, 0.852331280708313, -0.7854335308074951, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.15896716713905334, 1.972741961479187, -1.0087865591049194, -0.9315096139907837, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.5594813823699951, 2.132319688796997, -1.1212654113769531, 1.7357478141784668, 0.800801694393158, -0.7807934284210205, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.14154061675071716, 1.9520010948181152, -1.0087865591049194, -0.9218107461929321, 0.8026333451271057, 0.7741298079490662, 0.0, -0.0, 0.5815654993057251, 2.13474440574646, -1.1442042589187622, 1.7379631996154785, 0.7600176334381104, -0.7641693353652954, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10869356244802475, 1.9114960432052612, -1.0087865591049194, -0.917920708656311, 0.8045521974563599, 0.7741298079490662, 0.0, -0.0, 0.6072953939437866, 2.13474440574646, -1.1634799242019653, 1.7393063306808472, 0.7217280268669128, -0.759860634803772, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.06410670280456543, 1.8521167039871216, -1.0087865591049194, -0.9161239862442017, 0.826706051826477, 0.7741298079490662, 0.0, -0.0, 0.6269896626472473, 2.13474440574646, -1.175673246383667, 1.7393063306808472, 0.6932768821716309, -0.754679799079895, 0.0017000000225380063, -0.0017000000225380063, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.011861920356750488, 1.7791484594345093, -1.0087865591049194, -0.9161239862442017, 0.8605299592018127, 0.7741298079490662, 0.0, -0.0, 0.6407181024551392, 2.13474440574646, -1.18415105342865, 1.7393063306808472, 0.6700065732002258, -0.7326130867004395, 0.01054999977350235, -0.01054999977350235, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.037155721336603165, 1.7194725275039673, -1.0087865591049194, -0.9161239862442017, 0.8902719616889954, 0.7741298079490662, 0.0, -0.0, 0.6461606621742249, 2.13474440574646, -1.1970422267913818, 1.7393063306808472, 0.6682796478271484, -0.7301360368728638, 0.022350000217556953, -0.022350000217556953, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.07349157333374023, 1.6804851293563843, -1.0087865591049194, -0.9161239862442017, 0.9062681198120117, 0.7741298079490662, 0.0, -0.0, 0.6489342451095581, 2.13474440574646, -1.2198764085769653, 1.7393063306808472, 0.6706520318984985, -0.7301360368728638, 0.030300000682473183, -0.030300000682473183, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0964827612042427, 1.6665997505187988, -1.0087865591049194, -0.9140307307243347, 0.9202058911323547, 0.7741298079490662, 0.0, -0.0, 0.6496843099594116, 2.13474440574646, -1.243687391281128, 1.7393063306808472, 0.6706520318984985, -0.7301360368728638, 0.031150000169873238, -0.031150000169873238, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.10293704271316528, 1.6665997505187988, -1.0087865591049194, -0.893272340297699, 0.9250727891921997, 0.7741298079490662, 0.0, -0.0, 0.6496843099594116, 2.13474440574646, -1.2625269889831543, 1.7393063306808472, 0.6768271923065186, -0.7137561440467834, 0.031150000169873238, -0.031150000169873238, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1043674498796463, 1.6665997505187988, -1.0087865591049194, -0.8826489448547363, 0.9250727891921997, 0.7741298079490662, 0.0, -0.0, 0.6512717604637146, 2.13474440574646, -1.2842272520065308, 1.7116401195526123, 0.6857585310935974, -0.6753968000411987, 0.031099999323487282, -0.031099999323487282, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1043674498796463, 1.6665997505187988, -1.0087865591049194, -0.8782007098197937, 0.9250727891921997, 0.7741298079490662, 0.0, -0.0, 0.6605868339538574, 2.13474440574646, -1.3100967407226562, 1.5933698415756226, 0.6728848814964294, -0.5813910961151123, 0.031099999323487282, -0.031099999323487282, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1043674498796463, 1.6665997505187988, -1.0087865591049194, -0.8782007098197937, 0.9250727891921997, 0.7741298079490662, 0.0, -0.0, 0.6901195049285889, 2.13474440574646, -1.3461534976959229, 1.411812663078308, 0.635136067867279, -0.44595587253570557, 0.031099999323487282, -0.031099999323487282, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1043674498796463, 1.6665997505187988, -1.0087865591049194, -0.8782007098197937, 0.9250727891921997, 0.7741298079490662, 0.0, -0.0, 0.7266297936439514, 2.13474440574646, -1.381791591644287, 1.268789291381836, 0.5985211133956909, -0.3405417799949646, 0.031099999323487282, -0.031099999323487282, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1043674498796463, 1.6665997505187988, -1.0087865591049194, -0.8782007098197937, 0.9250727891921997, 0.7741298079490662, 0.0, -0.0, 0.756319522857666, 2.13474440574646, -1.4135222434997559, 1.1768769025802612, 0.588263988494873, -0.2818252742290497, 0.031099999323487282, -0.031099999323487282, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1043674498796463, 1.6665997505187988, -1.0087865591049194, -0.8782007098197937, 0.9250727891921997, 0.7741298079490662, 0.0, -0.0, 0.7702921628952026, 2.13474440574646, -1.4508174657821655, 1.0724222660064697, 0.588263988494873, -0.20360636711120605, 0.031050000339746475, -0.031050000339746475, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067572832107544, 1.6665997505187988, -1.0087865591049194, -0.8782007098197937, 0.9250727891921997, 0.7741298079490662, 0.0, -0.0, 0.7702921628952026, 2.117003917694092, -1.4628713130950928, 0.9821844100952148, 0.5846007466316223, -0.1451689749956131, 0.031050000339746475, -0.031050000339746475, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.10665261745452881, 1.6665997505187988, -1.0087865591049194, -0.8782007098197937, 0.9250727891921997, 0.7741298079490662, 0.0, -0.0, 0.7702921628952026, 2.081871509552002, -1.466447353363037, 0.8970751166343689, 0.5846007466316223, -0.0752883031964302, 0.031050000339746475, -0.031050000339746475, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.10665261745452881, 1.6665997505187988, -1.0087865591049194, -0.8782007098197937, 0.9231888055801392, 0.7741298079490662, 0.0, -0.0, 0.7702921628952026, 2.052443504333496, -1.4688197374343872, 0.8102738261222839, 0.5864847302436829, -0.007710248231887817, 0.031050000339746475, -0.031050000339746475, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.10665261745452881, 1.6665997505187988, -1.0087865591049194, -0.8782007098197937, 0.9164031147956848, 0.7741298079490662, 0.0, -0.0, 0.7702921628952026, 2.0229806900024414, -1.4688197374343872, 0.7421375513076782, 0.5944392085075378, 0.03624863177537918, 0.031050000339746475, -0.031050000339746475, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.10665261745452881, 1.6665997505187988, -1.0087865591049194, -0.8782007098197937, 0.9164031147956848, 0.7741298079490662, 0.0, -0.0, 0.7586569786071777, 1.9848829507827759, -1.4688197374343872, 0.7188149094581604, 0.6148486733436584, 0.029061704874038696, 0.03085000067949295, -0.03085000067949295, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.10923432558774948, 1.6665997505187988, -1.0087865591049194, -0.8782007098197937, 0.9164031147956848, 0.7741298079490662, 0.0, -0.0, 0.7190417051315308, 1.9257478713989258, -1.4688197374343872, 0.7146632075309753, 0.6667271256446838, -0.02267719991505146, 0.026000000536441803, -0.026000000536441803, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.12540490925312042, 1.6624480485916138, -1.0087865591049194, -0.8782007098197937, 0.9164031147956848, 0.7647972702980042, 0.0, -0.0, 0.6476957201957703, 1.8674499988555908, -1.4688197374343872, 0.6780133843421936, 0.7280776500701904, -0.06454280018806458, 0.010649999603629112, -0.010649999603629112, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.16041502356529236, 1.641183853149414, -1.0087865591049194, -0.8767529129981995, 0.9164031147956848, 0.7586046457290649, 0.0, -0.0, 0.5612607002258301, 1.8143678903579712, -1.4354841709136963, 0.6210412979125977, 0.7372357845306396, -0.08446384966373444, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.19483204185962677, 1.6065750122070312, -1.0087865591049194, -0.8767529129981995, 0.9184615015983582, 0.7513828277587891, 0.0, -0.0, 0.4872109293937683, 1.7926151752471924, -1.3506191968917847, 0.6209715008735657, 0.7228270173072815, -0.12289298325777054, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.22633589804172516, 1.5689482688903809, -1.0087865591049194, -0.873961865901947, 0.9271835088729858, 0.7381428480148315, 0.0, -0.0, 0.46257999539375305, 1.7950224876403809, -1.2437572479248047, 0.7236818075180054, 0.7043887376785278, -0.22298665344715118, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.2502690553665161, 1.5351766347885132, -1.0087865591049194, -0.8656061887741089, 0.9291895627975464, 0.7185357809066772, 0.0, -0.0, 0.4683713912963867, 1.8283405303955078, -1.1454079151153564, 0.9349983930587769, 0.6954748630523682, -0.3744877874851227, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.263543963432312, 1.5123424530029297, -1.0066758394241333, -0.8239324688911438, 0.9311432838439941, 0.6791297793388367, 0.0, -0.0, 0.49413618445396423, 1.891383171081543, -1.0915931463241577, 1.2026242017745972, 0.6913406252861023, -0.5610862374305725, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.26636987924575806, 1.4989105463027954, -0.9835101366043091, -0.7533191442489624, 0.9065472483634949, 0.6200469732284546, 0.0, -0.0, 0.5314489006996155, 1.965659737586975, -1.0992511510849, 1.3977528810501099, 0.689212441444397, -0.6898055076599121, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.26793983578681946, 1.494741439819336, -0.949790894985199, -0.6814672946929932, 0.8836956024169922, 0.5726516246795654, 0.0, -0.0, 0.5634062886238098, 2.042116641998291, -1.145896315574646, 1.478187084197998, 0.689212441444397, -0.7322642207145691, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.494741439819336, -0.9035294055938721, -0.649579644203186, 0.8558026552200317, 0.5554344058036804, 0.0, -0.0, 0.5936716794967651, 2.0989317893981934, -1.2107880115509033, 1.5044403076171875, 0.698213517665863, -0.7404280304908752, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.494741439819336, -0.8578261733055115, -0.6276699900627136, 0.818943440914154, 0.5266517996788025, 0.002400000113993883, -0.002400000113993883, 0.6218960285186768, 2.1354944705963135, -1.2566657066345215, 1.5065685510635376, 0.6998707056045532, -0.7404280304908752, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.4967474937438965, -0.8248918652534485, -0.5742564797401428, 0.7951323986053467, 0.47273239493370056, 0.012749999761581421, -0.012749999761581421, 0.6393923759460449, 2.1654109954833984, -1.278139352798462, 1.5086443424224854, 0.6998707056045532, -0.7380905151367188, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.5284607410430908, -0.8150883316993713, -0.5316582322120667, 0.7886432409286499, 0.42722100019454956, 0.028550000861287117, -0.028550000861287117, 0.6397412419319153, 2.194472551345825, -1.2800930738449097, 1.5086443424224854, 0.6998707056045532, -0.7334853410720825, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.5798332691192627, -0.8142336010932922, -0.5294253826141357, 0.7834623456001282, 0.4097944498062134, 0.03290000185370445, -0.03290000185370445, 0.6397412419319153, 2.2096140384674072, -1.2800930738449097, 1.5109120607376099, 0.6961900591850281, -0.7334853410720825, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.6403639316558838, -0.8142336010932922, -0.5381125211715698, 0.7766417860984802, 0.41227149963378906, 0.02944999933242798, -0.02944999933242798, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.514802098274231, 0.6961900591850281, -0.7334853410720825, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.7014354467391968, -0.8127508759498596, -0.5890489816665649, 0.7724028825759888, 0.4677259624004364, 0.028149999678134918, -0.028149999678134918, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.514802098274231, 0.6961900591850281, -0.7334853410720825, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.7561920881271362, -0.8127508759498596, -0.6487249135971069, 0.7661404609680176, 0.5242794156074524, 0.028149999678134918, -0.028149999678134918, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.514802098274231, 0.6961900591850281, -0.7334853410720825, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.7959470748901367, -0.8127508759498596, -0.6706520318984985, 0.7640646696090698, 0.5556262731552124, 0.028149999678134918, -0.028149999678134918, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.514802098274231, 0.6961900591850281, -0.7334853410720825, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.8261600732803345, -0.8127508759498596, -0.6820778250694275, 0.7510688900947571, 0.563231885433197, 0.028149999678134918, -0.028149999678134918, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.518692135810852, 0.6961900591850281, -0.7334853410720825, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.8546286821365356, -0.8127508759498596, -0.7209256291389465, 0.7463241219520569, 0.5972127914428711, 0.028149999678134918, -0.028149999678134918, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.5200178623199463, 0.6897706389427185, -0.7334853410720825, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.8634378910064697, -0.8127508759498596, -0.774060070514679, 0.7512956261634827, 0.6506960988044739, 0.025200000032782555, -0.025200000032782555, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.522756576538086, 0.6845200061798096, -0.7334853410720825, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.8726831674575806, -0.8127508759498596, -0.8061046600341797, 0.7555170655250549, 0.6728150844573975, 0.014499999582767487, -0.014499999582767487, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.522756576538086, 0.682583749294281, -0.7334853410720825, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.8751602172851562, -0.8127508759498596, -0.8204959630966187, 0.7746182680130005, 0.6935210824012756, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.522756576538086, 0.6811707615852356, -0.7334853410720825, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.8751602172851562, -0.8334568738937378, -0.837870180606842, 0.8310496211051941, 0.7317408919334412, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.522756576538086, 0.6773330569267273, -0.7297174334526062, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.8559892177581787, -0.8603380918502808, -0.8969879150390625, 0.8954179883003235, 0.7888700366020203, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.522756576538086, 0.6737570762634277, -0.7222862839698792, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.8193743228912354, -0.88196861743927, -0.9783118367195129, 0.9822716116905212, 0.8572853803634644, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.5165988206863403, 0.6652094721794128, -0.711418628692627, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.27019011974334717, 1.7827244997024536, -0.8913186192512512, -1.0498671531677246, 1.0744283199310303, 0.9184091687202454, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.5121331214904785, 0.6577260494232178, -0.7074763178825378, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.2580665349960327, 1.7619661092758179, -0.8913186192512512, -1.0945587158203125, 1.130737543106079, 0.9521807432174683, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.5104584693908691, 0.6512019634246826, -0.7074763178825378, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.2133750021457672, 1.7554246187210083, -0.8913186192512512, -1.108793020248413, 1.1484432220458984, 0.9684385657310486, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.5082606077194214, 0.6516380906105042, -0.7074763178825378, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1467389315366745, 1.7554246187210083, -0.8913186192512512, -1.1106071472167969, 1.147536039352417, 0.9739159345626831, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.5082606077194214, 0.6516380906105042, -0.7011964917182922, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.07131107151508331, 1.7554246187210083, -0.8913186192512512, -1.1109211444854736, 1.101135015487671, 0.9781723022460938, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.5064986944198608, 0.6457594633102417, -0.6801939010620117, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.00941975973546505, 1.7682459354400635, -0.8929234743118286, -1.112857460975647, 1.0532686710357666, 0.9752417206764221, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.5064986944198608, 0.6432649493217468, -0.66278475522995, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.029393140226602554, 1.8074077367782593, -0.8929234743118286, -1.112857460975647, 1.0217822790145874, 0.9708981513977051, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.5064986944198608, 0.6408227682113647, -0.6554757356643677, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04299946129322052, 1.852012038230896, -0.8929234743118286, -1.112857460975647, 1.0047045946121216, 0.9662231802940369, 0.0, -0.0, 0.6397412419319153, 2.2093698978424072, -1.2800930738449097, 1.512639045715332, 0.6408227682113647, -0.6380666494369507, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04299946129322052, 1.8855568170547485, -0.8929234743118286, -1.112857460975647, 0.9960175156593323, 0.9638682007789612, 0.0, -0.0, 0.6397412419319153, 2.2022526264190674, -1.2800930738449097, 1.5149765014648438, 0.6369327902793884, -0.6238323450088501, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04299946129322052, 1.894924283027649, -0.8929234743118286, -1.115002989768982, 0.9922844767570496, 0.9638682007789612, 0.0, -0.0, 0.6338975429534912, 2.1602649688720703, -1.268527626991272, 1.5131971836090088, 0.6152673363685608, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04299946129322052, 1.894924283027649, -0.8929234743118286, -1.116660237312317, 0.9922844767570496, 0.9638682007789612, 0.0, -0.0, 0.6205528378486633, 2.0939602851867676, -1.2284587621688843, 1.5113307237625122, 0.5942822098731995, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04299946129322052, 1.894924283027649, -0.8929234743118286, -1.116660237312317, 0.9901214241981506, 0.9667639136314392, 0.0, -0.0, 0.5996200442314148, 2.0253007411956787, -1.1860524415969849, 1.4935901165008545, 0.5924156904220581, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04299946129322052, 1.894924283027649, -0.8929234743118286, -1.116660237312317, 0.988568902015686, 0.9759220480918884, 0.0, -0.0, 0.5737506151199341, 1.9641594886779785, -1.1537113189697266, 1.4551087617874146, 0.594648540019989, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04299946129322052, 1.894924283027649, -0.8929234743118286, -1.1194686889648438, 0.988568902015686, 0.9795154929161072, 0.0018500000005587935, -0.0018500000005587935, 0.5515269637107849, 1.9200959205627441, -1.1334762573242188, 1.429221749305725, 0.6128426194190979, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04299946129322052, 1.894924283027649, -0.8929234743118286, -1.1394944190979004, 0.988568902015686, 0.9816960096359253, 0.008349999785423279, -0.008349999785423279, 0.5384788513183594, 1.889743447303772, -1.1314003467559814, 1.4255585670471191, 0.6329555511474609, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04299946129322052, 1.894924283027649, -0.8929234743118286, -1.1485652923583984, 0.9984073638916016, 0.9861093163490295, 0.017550000920891762, -0.017550000920891762, 0.5364727973937988, 1.8696304559707642, -1.1314003467559814, 1.4255585670471191, 0.6426369547843933, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04299946129322052, 1.894924283027649, -0.8929234743118286, -1.1562930345535278, 1.014787197113037, 0.988638699054718, 0.025499999523162842, -0.025499999523162842, 0.5364727973937988, 1.8651124238967896, -1.1309468746185303, 1.4255585670471191, 0.6498587727546692, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04299946129322052, 1.895779013633728, -0.8929234743118286, -1.1803656816482544, 1.0632641315460205, 1.0085248947143555, 0.028049999848008156, -0.028049999848008156, 0.5364727973937988, 1.8645368814468384, -1.1309468746185303, 1.4255585670471191, 0.6498587727546692, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.048860643059015274, 1.895779013633728, -0.8929234743118286, -1.2148699760437012, 1.1030189990997314, 1.0350571870803833, 0.027899999171495438, -0.027899999171495438, 0.5364727973937988, 1.8645368814468384, -1.1309468746185303, 1.4255585670471191, 0.6498587727546692, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.06811881810426712, 1.895779013633728, -0.8929234743118286, -1.2260689735412598, 1.1021119356155396, 1.0518382787704468, 0.027899999171495438, -0.027899999171495438, 0.5364727973937988, 1.8645368814468384, -1.1309468746185303, 1.4276518821716309, 0.6498587727546692, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08687111735343933, 1.895779013633728, -0.8929234743118286, -1.2279877662658691, 1.0792951583862305, 1.0542281866073608, 0.027899999171495438, -0.027899999171495438, 0.5364727973937988, 1.8645368814468384, -1.1309468746185303, 1.4544109106063843, 0.6498587727546692, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09602922201156616, 1.895779013633728, -0.8929234743118286, -1.2279877662658691, 1.0730676651000977, 1.0566179752349854, 0.027899999171495438, -0.027899999171495438, 0.5364727973937988, 1.8645368814468384, -1.1309468746185303, 1.4892815351486206, 0.6498587727546692, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09780851006507874, 1.895779013633728, -0.8929234743118286, -1.2279877662658691, 1.0686542987823486, 1.0566179752349854, 0.027899999171495438, -0.027899999171495438, 0.538443922996521, 1.8666476011276245, -1.133284330368042, 1.5093770027160645, 0.6407530307769775, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09843648970127106, 1.895779013633728, -0.8929234743118286, -1.2279877662658691, 1.0670145750045776, 1.0566179752349854, 0.027899999171495438, -0.027899999171495438, 0.5512303709983826, 1.8991283178329468, -1.1770339012145996, 1.5282340049743652, 0.6370199918746948, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09843648970127106, 1.895779013633728, -0.8929234743118286, -1.2279877662658691, 1.0670145750045776, 1.0566179752349854, 0.027899999171495438, -0.027899999171495438, 0.5704013705253601, 1.9614207744598389, -1.2435129880905151, 1.5565106868743896, 0.6452012062072754, -0.6211110353469849, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09843648970127106, 1.895779013633728, -0.8929234743118286, -1.2279877662658691, 1.0670145750045776, 1.0566179752349854, 0.027899999171495438, -0.027899999171495438, 0.5814608335494995, 2.0226492881774902, -1.3034855127334595, 1.5682156085968018, 0.6511321663856506, -0.6188956499099731, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09843648970127106, 1.895779013633728, -0.8929234743118286, -1.2279877662658691, 1.0670145750045776, 1.0566179752349854, 0.027899999171495438, -0.027899999171495438, 0.5819492936134338, 2.075033664703369, -1.3360533714294434, 1.5731347799301147, 0.6690123081207275, -0.6019226908683777, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09843648970127106, 1.895779013633728, -0.8929234743118286, -1.2279877662658691, 1.0670145750045776, 1.0566179752349854, 0.027899999171495438, -0.027899999171495438, 0.5819492936134338, 2.114020824432373, -1.3421238660812378, 1.566907286643982, 0.6936955451965332, -0.5981721878051758, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09843648970127106, 1.895779013633728, -0.8929234743118286, -1.2279877662658691, 1.0761901140213013, 1.0566179752349854, 0.027899999171495438, -0.027899999171495438, 0.5878976583480835, 2.144024610519409, -1.3421238660812378, 1.5299434661865234, 0.7038654088973999, -0.5958870649337769, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09843648970127106, 1.8818761110305786, -0.8929234743118286, -1.2279877662658691, 1.0901976823806763, 1.0566179752349854, 0.027899999171495438, -0.027899999171495438, 0.5876185894012451, 2.1656551361083984, -1.3421238660812378, 1.492055058479309, 0.7016674280166626, -0.5941600799560547, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09615132957696915, 1.838021993637085, -0.8929234743118286, -1.2180098295211792, 1.0981521606445312, 1.0510708093643188, 0.027899999171495438, -0.027899999171495438, 0.5751635432243347, 2.176208734512329, -1.3421238660812378, 1.452090859413147, 0.697899580001831, -0.5896595120429993, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.06237974390387535, 1.7886205911636353, -0.8929234743118286, -1.1971293687820435, 1.10567045211792, 1.0346734523773193, 0.027899999171495438, -0.027899999171495438, 0.5608245730400085, 2.176208734512329, -1.3421238660812378, 1.3960607051849365, 0.6943584084510803, -0.5754252076148987, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0, 1.746911883354187, -0.8929234743118286, -1.175673246383667, 1.10567045211792, 1.016182780265808, 0.02370000071823597, -0.02370000071823597, 0.5523293614387512, 2.176208734512329, -1.3426995277404785, 1.3644871711730957, 0.6943584084510803, -0.5685523152351379, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.05236688628792763, 1.7345441579818726, -0.8929234743118286, -1.1623809337615967, 1.10567045211792, 0.9982154369354248, 0.010099999606609344, -0.010099999606609344, 0.5505675077438354, 2.176208734512329, -1.3426995277404785, 1.3498690128326416, 0.6943584084510803, -0.5661450028419495, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.06701985001564026, 1.738852858543396, -0.8929234743118286, -1.1599911451339722, 1.0958669185638428, 0.9938195943832397, 0.0, -0.0, 0.5505675077438354, 2.176208734512329, -1.3426995277404785, 1.3481072187423706, 0.6943584084510803, -0.5654298067092896, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.06701985001564026, 1.759140133857727, -0.8929234743118286, -1.1890877485275269, 1.0713930130004883, 1.0030648708343506, 0.0, -0.0, 0.5505675077438354, 2.176208734512329, -1.3426995277404785, 1.3463976383209229, 0.6943584084510803, -0.5654298067092896, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.06701985001564026, 1.8016512393951416, -0.9185312390327454, -1.236343502998352, 1.0560946464538574, 1.0094319581985474, 0.0, -0.0, 0.5505675077438354, 2.176208734512329, -1.3426995277404785, 1.3463976383209229, 0.6943584084510803, -0.555347204208374, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.057722195982933044, 1.8761719465255737, -0.9797073602676392, -1.2592649459838867, 1.048768162727356, 1.0120136737823486, 0.0, -0.0, 0.5505675077438354, 2.176208734512329, -1.3426995277404785, 1.3463976383209229, 0.6943584084510803, -0.5530794858932495, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.03223651275038719, 1.9608800411224365, -1.0498497486114502, -1.2731852531433105, 1.0421569347381592, 1.0120136737823486, 0.0, -0.0, 0.5505675077438354, 2.176208734512329, -1.3426995277404785, 1.3463976383209229, 0.6943584084510803, -0.5530794858932495, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.008460340090095997, 2.042639970779419, -1.1120026111602783, -1.2731852531433105, 1.0384762287139893, 1.0120136737823486, 0.0, -0.0, 0.5505675077438354, 2.1739237308502197, -1.3426995277404785, 1.3463976383209229, 0.6977599859237671, -0.5530794858932495, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.03900478407740593, 2.112764835357666, -1.1569209098815918, -1.2667309045791626, 1.0363131761550903, 1.010007619857788, 0.0, -0.0, 0.5505675077438354, 2.143605947494507, -1.3426995277404785, 1.3310121297836304, 0.7026268839836121, -0.5530794858932495, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.052384331822395325, 2.1495718955993652, -1.1753767728805542, -1.2667309045791626, 1.0363131761550903, 1.0055245161056519, 0.0, -0.0, 0.5505675077438354, 2.080249309539795, -1.3426995277404785, 1.3197956085205078, 0.7225828170776367, -0.5530794858932495, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.052384331822395325, 2.1624104976654053, -1.1772781610488892, -1.2667309045791626, 1.0363131761550903, 1.0055245161056519, 0.0, -0.0, 0.5736110806465149, 2.024777412414551, -1.314806580543518, 1.3557127714157104, 0.7250773310661316, -0.5552250742912292, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.052384331822395325, 2.1624104976654053, -1.1790050268173218, -1.2667309045791626, 1.0363131761550903, 1.0055245161056519, 0.0, -0.0, 0.6172559261322021, 2.0081183910369873, -1.2598580121994019, 1.4261691570281982, 0.7077728509902954, -0.5817574262619019, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.052384331822395325, 2.1624104976654053, -1.1790050268173218, -1.2667309045791626, 1.0363131761550903, 1.0055245161056519, 0.0, -0.0, 0.6589994430541992, 2.024097204208374, -1.1978271007537842, 1.5139647722244263, 0.6424624919891357, -0.6282107830047607, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.052384331822395325, 2.1624104976654053, -1.1790050268173218, -1.2667309045791626, 1.0281842947006226, 1.0073038339614868, 0.0, -0.0, 0.6706694960594177, 2.0634334087371826, -1.1522808074951172, 1.5832523107528687, 0.5842170119285583, -0.6595401763916016, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.054582275450229645, 2.1624104976654053, -1.1790050268173218, -1.25895094871521, 0.9995062947273254, 1.0074608325958252, 0.0, -0.0, 0.6706694960594177, 2.1015658378601074, -1.1360056400299072, 1.6047956943511963, 0.5504454374313354, -0.6725010871887207, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05627434328198433, 2.1624104976654053, -1.1790050268173218, -1.2512407302856445, 0.9740555286407471, 1.0074608325958252, 0.0, -0.0, 0.6706694960594177, 2.1193761825561523, -1.13392972946167, 1.621140718460083, 0.5494162440299988, -0.6739838123321533, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05627434328198433, 2.1624104976654053, -1.1796330213546753, -1.248571753501892, 0.9695026278495789, 1.0074608325958252, 0.0, -0.0, 0.6706694960594177, 2.1210508346557617, -1.13392972946167, 1.6353226900100708, 0.553899347782135, -0.6765829920768738, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05217500403523445, 2.157456398010254, -1.1912332773208618, -1.2438619136810303, 0.9904703497886658, 1.0074608325958252, 0.0, -0.0, 0.6638662815093994, 2.1082119941711426, -1.13392972946167, 1.6300022602081299, 0.5660403370857239, -0.6765829920768738, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.03815002739429474, 2.118346929550171, -1.201298475265503, -1.2252665758132935, 1.0123625993728638, 0.9831438660621643, 0.0, -0.0, 0.6522834897041321, 2.063904285430908, -1.130911946296692, 1.5872819423675537, 0.585054337978363, -0.6765829920768738, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.0176707711070776, 2.052600622177124, -1.209252953529358, -1.1806447505950928, 1.0165317058563232, 0.9393419623374939, 0.0, -0.0, 0.6349790692329407, 2.0002336502075195, -1.130911946296692, 1.5226519107818604, 0.6245998740196228, -0.6732860803604126, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.006210064049810171, 1.9913721084594727, -1.209252953529358, -1.1152821779251099, 1.01708984375, 0.8950516581535339, 0.0, -0.0, 0.6141858100891113, 1.9430348873138428, -1.130911946296692, 1.4178483486175537, 0.676460862159729, -0.6454977989196777, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.019048847258090973, 1.9441686868667603, -1.2243071794509888, -1.0204739570617676, 1.0190435647964478, 0.844115138053894, 0.0, -0.0, 0.5670521259307861, 1.9084433317184448, -1.1423901319503784, 1.2439316511154175, 0.714384138584137, -0.5936018824577332, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.058419957756996155, 1.8917843103408813, -1.307654619216919, -0.7708678245544434, 1.0142987966537476, 0.6486900448799133, 0.0, -0.0, 0.4605390429496765, 1.8842484951019287, -1.2233999967575073, 0.8971274495124817, 0.767099916934967, -0.40862569212913513, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.05925726890563965, 1.831829309463501, -1.4177261590957642, -0.2928673028945923, 1.0346035957336426, 0.2957281172275543, 0.0, -0.0, 0.3202718496322632, 1.8638739585876465, -1.344845175743103, 0.5152260065078735, 0.8654491901397705, -0.19790217280387878, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.049314189702272415, 1.7419403791427612, -1.4559285640716553, 0.07043886929750443, 1.0809000730514526, 0.06565921753644943, 0.0, -0.0, 0.2087523490190506, 1.8253750801086426, -1.4323617219924927, 0.2064322978258133, 0.996331512928009, -0.005268088076263666, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.04533695429563522, 1.5809845924377441, -1.364766240119934, 0.11258357763290405, 1.046605110168457, -0.01200147159397602, 0.0, -0.0, 0.13693539798259735, 1.7115354537963867, -1.4057247638702393, 0.06654886156320572, 1.0765738487243652, 0.06729894876480103, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.028119727969169617, 1.3011654615402222, -1.1089324951171875, 0.03733016178011894, 0.8394750356674194, -0.009873303584754467, 0.0, -0.0, 0.12472459673881531, 1.4738086462020874, -1.209113359451294, 0.04528462514281273, 0.9774571061134338, 0.09548845887184143, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.007099708076566458, 0.9833880662918091, -0.7702746987342834, -0.03776625916361809, 0.5856125354766846, 0.0, 0.0, -0.0, 0.1482391059398651, 1.1630438566207886, -0.9435634016990662, 0.07258448749780655, 0.7627738118171692, 0.13451068103313446, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.6815894246101379, -0.4308842420578003, -0.11567116528749466, 0.40285173058509827, -0.029218699783086777, 0.0, -0.0, 0.16725307703018188, 0.8733164072036743, -0.668506383895874, 0.10386157780885696, 0.5483172535896301, 0.16854393482208252, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.4277094304561615, -0.21955017745494843, -0.21377621591091156, 0.24773968756198883, -0.04676736518740654, 0.0, -0.0, 0.16683441400527954, 0.673373281955719, -0.4552360773086548, 0.09958779811859131, 0.3915654718875885, 0.21293890476226807, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.26657921075820923, -0.12814362347126007, -0.25939229130744934, 0.16430503129959106, -0.04887808859348297, 0.0, -0.0, 0.16210709512233734, 0.6248440742492676, -0.3633759617805481, 0.0941278263926506, 0.31912052631378174, 0.260421484708786, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.15758909285068512, -0.10869356244802475, -0.27425456047058105, 0.1436862349510193, -0.04887808859348297, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3368436396121979, 0.09196476638317108, 0.2834824323654175, 0.27659207582473755, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.07938764244318008, -0.10480355471372604, -0.2784760296344757, 0.13524332642555237, -0.04887808859348297, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2660733461380005, 0.2840929925441742, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.02236320823431015, -0.10480355471372604, -0.27992385625839233, 0.13168475031852722, -0.04887808859348297, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2622531056404114, 0.28608161211013794, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, -0.10480355471372604, -0.2826277017593384, 0.12920771539211273, -0.04887808859348297, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2622531056404114, 0.28608161211013794, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, -0.10480355471372604, -0.2826277017593384, 0.12920771539211273, -0.04887808859348297, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.26078781485557556, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, -0.10480355471372604, -0.2826277017593384, 0.12920771539211273, -0.04887808859348297, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.26078781485557556, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, -0.0980352833867073, -0.2785108983516693, 0.12936469912528992, -0.043662331998348236, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.26078781485557556, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, -0.07420677691698074, -0.24831533432006836, 0.1271667629480362, -0.006576388143002987, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.26078781485557556, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, -0.021438676863908768, -0.20915356278419495, 0.12146256864070892, 0.0, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.26078781485557556, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, -0.003924900200217962, -0.13051600754261017, 0.13433624804019928, -0.00914065632969141, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.26078781485557556, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.07582906633615494, 0.14077307283878326, -0.019955936819314957, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.05444272235035896, 0.14243026077747345, -0.022066660225391388, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.037068501114845276, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.027910400182008743, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.017705660313367844, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01369354035705328, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.011443263851106167, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.009751196019351482, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.6228728890419006, -0.3351166844367981, 0.0902552530169487, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.5832226872444153, -0.32691800594329834, 0.07722458988428116, 0.2580142021179199, 0.2878783345222473, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.16210709512233734, 0.48223936557769775, -0.29002395272254944, 0.029096592217683792, 0.23814548552036285, 0.26235777139663696, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.1435990035533905, 0.3609512448310852, -0.2095722109079361, 0.0172695592045784, 0.1883254200220108, 0.11912507563829422, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.09937846660614014, 0.23045268654823303, -0.1004774421453476, 0.06708962470293045, 0.1098099797964096, -0.07479987293481827, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.04744768142700195, 0.09557567536830902, -0.018002208322286606, 0.09276719391345978, 0.060617901384830475, -0.1443839818239212, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.14243026077747345, -0.024125052616000175, 0.0, -0.0, 0.005355307832360268, 0.017688216641545296, -0.00643683597445488, 0.09690141677856445, 0.0752883031964302, -0.16121745109558105, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, -0.005756520200520754, 0.007012487854808569, -0.00643683597445488, 0.09426737576723099, 0.09219153970479965, -0.16264785826206207, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, -0.005756520200520754, 0.005302975885570049, -0.004273780155926943, 0.09042969346046448, 0.0965525433421135, -0.1381215900182724, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, -0.0074660321697592735, 0.005302975885570049, -0.004273780155926943, 0.08596403151750565, 0.10220439732074738, -0.08810964226722717, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, -0.0074660321697592735, 0.005302975885570049, -0.004273780155926943, 0.05446016788482666, 0.11090895533561707, -0.026322996243834496, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, -0.005704187788069248, 0.005302975885570049, -0.004273780155926943, 0.03996420279145241, 0.11497340351343155, -0.007326480001211166, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.0027735959738492966, 0.005302975885570049, -0.004273780155926943, 0.03759181872010231, 0.11497340351343155, -0.029323363676667213, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.03518454730510712, 0.11886341869831085, -0.04144694283604622, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.04115039482712746, 0.14084285497665405, -0.047744229435920715, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.0455288402736187, 0.1695207953453064, -0.0572860948741436, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.04756978899240494, 0.1718582808971405, -0.04875598102807999, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.04756978899240494, 0.1718582808971405, -0.020426923409104347, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.04418565332889557, 0.1718582808971405, -0.00739625608548522, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.03230628743767738, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.026026448234915733, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.023427292704582214, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.022729532793164253, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.022729532793164253, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.02023503929376602, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.1718582808971405, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.1734980195760727, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.1741260141134262, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.1741260141134262, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.1741260141134262, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.1741260141134262, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02032225951552391, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.00797190796583891, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013414436019957066, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013205108232796192, 0.008146348409354687, 0.0, -0.01168747991323471, 0.1427442580461502, -0.024125052616000175, 0.0, -0.0, 0.004448220133781433, 0.005302975885570049, -0.004273780155926943, 0.021996883675456047, 0.17590530216693878, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-aloha/000031/meta.json b/rc-table30-v2__rc-aloha/000031/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b154d4f8fa16c6ca72e124a254c9aa713b4a0f78
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000031/meta.json
@@ -0,0 +1,133 @@
+{
+ "format_version": 8,
+ "prompt": "Bundle the objects together using the cloth on the table.",
+ "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "site",
+ "object_name": "gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ },
+ {
+ "object_type": "site",
+ "object_name": "fr_gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "fl_base_link",
+ "fl_link1",
+ "fl_link2",
+ "fl_link3",
+ "fl_link4",
+ "fl_link5",
+ "fl_link6",
+ "fl_link7",
+ "fl_link8"
+ ],
+ [
+ "fr_base_link",
+ "fr_link1",
+ "fr_link2",
+ "fr_link3",
+ "fr_link4",
+ "fr_link5",
+ "fr_link6",
+ "fr_link7",
+ "fr_link8"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "gripper_center",
+ "finger_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "fr_gripper_center",
+ "finger_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-aloha",
+ "source_repo_id": "rc-table30-v2/rc-aloha",
+ "episode_index": 8072,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "ALOHA"
+ }
+}
diff --git a/rc-table30-v2__rc-aloha/000035/meta.json b/rc-table30-v2__rc-aloha/000035/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..633862b70156aa084cd00811c2dab66077ae889f
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000035/meta.json
@@ -0,0 +1,133 @@
+{
+ "format_version": 8,
+ "prompt": "Use a lint roller to remove the debris from the clothing.",
+ "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "site",
+ "object_name": "gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ },
+ {
+ "object_type": "site",
+ "object_name": "fr_gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "fl_base_link",
+ "fl_link1",
+ "fl_link2",
+ "fl_link3",
+ "fl_link4",
+ "fl_link5",
+ "fl_link6",
+ "fl_link7",
+ "fl_link8"
+ ],
+ [
+ "fr_base_link",
+ "fr_link1",
+ "fr_link2",
+ "fr_link3",
+ "fr_link4",
+ "fr_link5",
+ "fr_link6",
+ "fr_link7",
+ "fr_link8"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "gripper_center",
+ "finger_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "fr_gripper_center",
+ "finger_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-aloha",
+ "source_repo_id": "rc-table30-v2/rc-aloha",
+ "episode_index": 1069,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "ALOHA"
+ }
+}
diff --git a/rc-table30-v2__rc-aloha/000035/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v2__rc-aloha/000035/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..ccebf2e24d19697cd49589e762a28e7b1285dcf8
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000035/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
@@ -0,0 +1,308 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-aloha/000035/temporal.json b/rc-table30-v2__rc-aloha/000035/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6b4349ed1d219218d80fb0634cf83b3b383fc0e
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000035/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.0035934639163315296, -0.0047796559520065784, 0.03232373297214508, 0.2016351968050003, 0.019886160269379616, 0.0, -0.0, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.0035934639163315296, -0.0047796559520065784, 0.03232373297214508, 0.19713464379310608, 0.019886160269379616, 0.0, -0.0, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.0035934639163315296, -0.0047796559520065784, 0.03232373297214508, 0.1577286422252655, 0.019886160269379616, 0.0, -0.0, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.0035934639163315296, -0.0047796559520065784, 0.03232373297214508, 0.12205566465854645, 0.019886160269379616, 0.0, -0.0, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.0035934639163315296, -0.0047796559520065784, 0.03232373297214508, 0.1176772266626358, 0.019886160269379616, 0.0005499999970197678, -0.0005499999970197678, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.0035934639163315296, -0.0047796559520065784, 0.03232373297214508, 0.1176772266626358, 0.019886160269379616, 0.008750000037252903, -0.008750000037252903, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.0035934639163315296, -0.0047796559520065784, 0.03232373297214508, 0.1176772266626358, 0.019886160269379616, 0.022749999538064003, -0.022749999538064003, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.0035934639163315296, -0.020671140402555466, -0.0069252680987119675, 0.1176772266626358, 0.019886160269379616, 0.03674999997019768, -0.03674999997019768, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.002878260100260377, -0.07985863089561462, -0.05665811151266098, 0.11739812046289444, 0.019886160269379616, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.03188763186335564, -0.18181881308555603, -0.06839792430400848, 0.15401308238506317, 0.02164800465106964, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.1923549920320511, -0.3869428038597107, -0.024665815755724907, 0.23364493250846863, 0.028433719649910927, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.4584457576274872, -0.6751002669334412, 0.01711256429553032, 0.42013874650001526, 0.04299946129322052, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.7098835706710815, -0.9285266995429993, 0.02368895150721073, 0.7367822527885437, 0.04997706040740013, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 0.9414875507354736, -1.042680263519287, 0.027526631951332092, 0.9579372406005859, 0.13309772312641144, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 1.1750452518463135, -1.061397671699524, -0.025067027658224106, 1.034760594367981, 0.40995144844055176, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18822075426578522, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 1.3706623315811157, -1.061397671699524, -0.11007163673639297, 1.052902340888977, 0.7793107032775879, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.18553438782691956, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0034190239384770393, 1.5489051342010498, -1.061990737915039, -0.21968974173069, 1.023805856704712, 1.1741905212402344, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.1725734919309616, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.017566107213497162, 1.7038252353668213, -1.0812139511108398, -0.3022173047065735, 0.9692584276199341, 1.431280255317688, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.17063720524311066, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.06726406514644623, 1.8296313285827637, -1.1335983276367188, -0.29932159185409546, 0.9397082924842834, 1.501387596130371, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.16847415268421173, -0.019205844029784203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10190784931182861, 1.92470121383667, -1.1907448768615723, -0.2959374487400055, 0.9194732308387756, 1.52195405960083, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.16648553311824799, -0.019205844029784203, 4.999999873689376e-05, -4.999999873689376e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11411865055561066, 2.0088510513305664, -1.2262259721755981, -0.31667837500572205, 0.8971623778343201, 1.537008285522461, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.0361090786755085, 0.16648553311824799, -0.019205844029784203, 4.999999873689376e-05, -4.999999873689376e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.0710389614105225, -1.2327848672866821, -0.31029388308525085, 0.8609834909439087, 1.545939564704895, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, -0.019327951595187187, 0.16648553311824799, -0.019205844029784203, 4.999999873689376e-05, -4.999999873689376e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.088273525238037, -1.2377041578292847, -0.30556654930114746, 0.839980959892273, 1.5594761371612549, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, 0.009349984116852283, 0.16648553311824799, -0.019205844029784203, 0.0064500002190470695, -0.0064500002190470695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.0925300121307373, -1.2414895296096802, -0.30556654930114746, 0.8345035314559937, 1.561848521232605, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0022677199449390173, 0.02550312876701355, 0.16648553311824799, -0.019205844029784203, 0.02290000021457672, -0.02290000021457672, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.0931055545806885, -1.2414895296096802, -0.30556654930114746, 0.8346430659294128, 1.5656688213348389, 0.04, -0.04, -0.0038027919363230467, 0.007064819801598787, -0.0006105399806983769, 0.05118069425225258, 0.11523506045341492, -0.019205844029784203, 0.03759999945759773, -0.03759999945759773, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.091343641281128, -1.2308660745620728, -0.30556654930114746, 0.8219438195228577, 1.5678318738937378, 0.04, -0.04, -0.0038027919363230467, 0.018019651994109154, -0.029933903366327286, 0.06445558369159698, 0.009594200178980827, -0.019205844029784203, 0.03734999895095825, -0.03734999895095825, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.089320182800293, -1.2163351774215698, -0.30556654930114746, 0.8086689710617065, 1.5678318738937378, 0.04, -0.04, 0.00015699600044172257, 0.18105126917362213, -0.19999545812606812, -0.01709512062370777, -0.04697669297456741, -0.019205844029784203, 0.03734999895095825, -0.03734999895095825, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.087785243988037, -1.2137360572814941, -0.3075028359889984, 0.8048661351203918, 1.5678318738937378, 0.04, -0.04, 0.021857332438230515, 0.43435558676719666, -0.34781593084335327, -0.1372319459915161, -0.0980876088142395, -0.019205844029784203, 0.03700000047683716, -0.03700000047683716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2113810777664185, -0.3115324079990387, 0.8024937510490417, 1.5678318738937378, 0.04, -0.04, 0.060774896293878555, 0.7540692090988159, -0.439344584941864, -0.14501197636127472, -0.2345694750547409, 0.019868716597557068, 0.03700000047683716, -0.03700000047683716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5678318738937378, 0.04, -0.04, 0.11420586705207825, 1.1045366525650024, -0.42247623205184937, -0.13311515748500824, -0.4219703674316406, 0.047831449657678604, 0.03700000047683716, -0.03700000047683716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5678318738937378, 0.04, -0.04, 0.15661223232746124, 1.442897915840149, -0.312404602766037, -0.11240913718938828, -0.6646512746810913, 0.056291788816452026, 0.03700000047683716, -0.03700000047683716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5678318738937378, 0.04, -0.04, 0.17119541764259338, 1.6237049102783203, -0.261869341135025, -0.08526626974344254, -0.8567620515823364, 0.05712909996509552, 0.03700000047683716, -0.03700000047683716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5678318738937378, 0.04, -0.04, 0.1734980195760727, 1.7372130155563354, -0.2598981559276581, -0.029253587126731873, -0.9515178799629211, 0.05498348921537399, 0.03700000047683716, -0.03700000047683716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 1.817315936088562, -0.2598981559276581, 0.0, -1.0045301914215088, 0.046732477843761444, 0.03700000047683716, -0.03700000047683716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 1.876381278038025, -0.2598981559276581, 0.01507161557674408, -1.0459421873092651, 0.04200515151023865, 0.03700000047683716, -0.03700000047683716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 1.9331614971160889, -0.2598981559276581, 0.014722735621035099, -1.069072961807251, 0.03799303248524666, 0.03700000047683716, -0.03700000047683716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 1.9928723573684692, -0.2598981559276581, -0.006018179934471846, -1.0957274436950684, 0.03799303248524666, 0.03700000047683716, -0.03700000047683716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 2.0476813316345215, -0.2681840658187866, 0.0, -1.1119502782821655, 0.03546365350484848, 0.035999998450279236, -0.035999998450279236, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 2.0646543502807617, -0.2723182737827301, 0.008861551992595196, -1.1344356536865234, 0.03546365350484848, 0.021649999544024467, -0.021649999544024467, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 2.0676023960113525, -0.27413246035575867, 0.031137539073824883, -1.1393548250198364, 0.03546365350484848, 0.0006000000284984708, -0.0006000000284984708, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 2.041261911392212, -0.2619216740131378, 0.02213643677532673, -1.116991639137268, 0.025171691551804543, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 1.946645736694336, -0.22978980839252472, 0.025363575667142868, -1.063770055770874, 0.011861920356750488, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 1.7834919691085815, -0.22103291749954224, 0.05868161469697952, -0.9989829659461975, -0.025154247879981995, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 1.5902997255325317, -0.2551359534263611, 0.09742473810911179, -0.8597100973129272, -0.09939590841531754, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1734980195760727, 1.4136269092559814, -0.36431795358657837, 0.127201646566391, -0.546014666557312, -0.17239905893802643, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.17548663914203644, 1.357736349105835, -0.5608245730400085, 0.11179859936237335, -0.13780759274959564, -0.2402213215827942, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.19526813924312592, 1.4056200981140137, -0.7861836552619934, 0.1208694726228714, 0.18539483845233917, -0.3995548188686371, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.22872573137283325, 1.518430471420288, -0.9643043279647827, 0.33935558795928955, 0.4345300495624542, -0.8033834099769592, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.2673816382884979, 1.665291428565979, -1.114497184753418, 0.5992188453674316, 0.7324735522270203, -1.2553225755691528, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.3396695554256439, 1.820072054862976, -1.2539793252944946, 0.6636046767234802, 0.9064599871635437, -1.413714051246643, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.43203553557395935, 1.9607927799224854, -1.3776224851608276, 0.6522311568260193, 0.9529657363891602, -1.45046865940094, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.5019336342811584, 2.060293436050415, -1.4870312213897705, 0.6454454660415649, 0.9598909616470337, -1.4572019577026367, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.5434852838516235, 2.1252200603485107, -1.56600022315979, 0.6265535950660706, 0.9660661816596985, -1.444886565208435, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.5504977703094482, 2.1551363468170166, -1.6026326417922974, 0.5891187787055969, 0.9660661816596985, -1.4139583110809326, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.5504977703094482, 2.1615209579467773, -1.6059470176696777, 0.5424909591674805, 0.982917070388794, -1.4013811349868774, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.5504977703094482, 2.1629512310028076, -1.6080925464630127, 0.5132024884223938, 0.9924240708351135, -1.3998286724090576, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.5504977703094482, 2.1629512310028076, -1.601812720298767, 0.48314645886421204, 0.9963838458061218, -1.3633009195327759, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.5440958142280579, 2.156130790710449, -1.5804612636566162, 0.4592481851577759, 0.996331512928009, -1.3402574062347412, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.5188369154930115, 2.1326684951782227, -1.5311295986175537, 0.45256713032722473, 0.9858301877975464, -1.3384432792663574, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.481995165348053, 2.1008856296539307, -1.458545207977295, 0.4488515555858612, 0.9703748226165771, -1.3512994050979614, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.43674543499946594, 2.0654916763305664, -1.3899554014205933, 0.4417518675327301, 0.9598560929298401, -1.3659698963165283, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.3900478482246399, 2.032400369644165, -1.3254125118255615, 0.43036091327667236, 0.944871723651886, -1.3996542692184448, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.34799036383628845, 2.000460386276245, -1.2720165252685547, 0.4143298864364624, 0.935539186000824, -1.4148653745651245, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.3185448944568634, 1.9770854711532593, -1.2371634244918823, 0.3978278636932373, 0.9296605587005615, -1.4260644912719727, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.2999321222305298, 1.958228588104248, -1.2142943143844604, 0.39039671421051025, 0.9174671769142151, -1.4531025886535645, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.28768643736839294, 1.9401391744613647, -1.1914949417114258, 0.37849992513656616, 0.8973193764686584, -1.4680347442626953, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.28135427832603455, 1.9241429567337036, -1.1724287271499634, 0.3656960129737854, 0.8834514021873474, -1.4735469818115234, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.27053898572921753, 1.9102226495742798, -1.1635671854019165, 0.3506767451763153, 0.8816197514533997, -1.4753612279891968, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.2613285779953003, 1.885452151298523, -1.1485826969146729, 0.34417012333869934, 0.8747991323471069, -1.494741439819336, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.24358801543712616, 1.8541401624679565, -1.1251728534698486, 0.340628981590271, 0.8660597205162048, -1.5052427053451538, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.21068863570690155, 1.8113325834274292, -1.0959715843200684, 0.33536091446876526, 0.8596403002738953, -1.5109643936157227, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.17597506940364838, 1.7591227293014526, -1.063490867614746, 0.33000558614730835, 0.8501333594322205, -1.5188839435577393, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1451166421175003, 1.7054649591445923, -1.0340279340744019, 0.3303021490573883, 0.8480923771858215, -1.521360993385315, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.11439774930477142, 1.6606688499450684, -1.0044429302215576, 0.34420502185821533, 0.8455455899238586, -1.5263324975967407, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.07268914580345154, 1.6185764074325562, -0.9704794883728027, 0.4478572607040405, 0.7988479733467102, -1.5263324975967407, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.031364310532808304, 1.5671515464782715, -0.8893648982048035, 0.7033944129943848, 0.6397761702537537, -1.5235589742660522, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.025834564119577408, 1.5051206350326538, -0.7280951142311096, 1.014543056488037, 0.40224120020866394, -1.5194945335388184, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.05985036492347717, 1.4786930084228516, -0.5877581238746643, 1.3223947286605835, 0.15807752311229706, -1.5194945335388184, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.0831904336810112, 1.5209598541259766, -0.5410605669021606, 1.5180292129516602, 0.041935376822948456, -1.5194945335388184, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.08994126319885254, 1.596422553062439, -0.5656566023826599, 1.5806705951690674, 0.014862287789583206, -1.5194945335388184, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.08994126319885254, 1.6681523323059082, -0.6085339188575745, 1.6002079248428345, 0.008599892258644104, -1.5194945335388184, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.08994126319885254, 1.7117971181869507, -0.6309494972229004, 1.5953235626220703, 0.0, -1.5194945335388184, 4.999999873689376e-05, -4.999999873689376e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.08994126319885254, 1.740352988243103, -0.6332695484161377, 1.5862700939178467, 0.0, -1.5194945335388184, 0.005450000055134296, -0.005450000055134296, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.08994126319885254, 1.7476445436477661, -0.6350662708282471, 1.5862700939178467, 0.0, -1.5194945335388184, 0.021700000390410423, -0.021700000390410423, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.08994126319885254, 1.7476445436477661, -0.6366711258888245, 1.5862700939178467, 0.0, -1.5194945335388184, 0.039400000125169754, -0.039400000125169754, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.08994126319885254, 1.7384690046310425, -0.6366711258888245, 1.5862700939178467, 0.0, -1.5194945335388184, 0.03819999843835831, -0.03819999843835831, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.08994126319885254, 1.6720597743988037, -0.6366711258888245, 1.5862700939178467, 0.0, -1.5194945335388184, 0.02355000004172325, -0.02355000004172325, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.08994126319885254, 1.5560222864151, -0.6366711258888245, 1.5952188968658447, 0.02857327274978161, -1.5149415731430054, 4.999999873689376e-05, -4.999999873689376e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.08994126319885254, 1.4482531547546387, -0.6366711258888245, 1.5836360454559326, 0.09332539886236191, -1.4666740894317627, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.08655712753534317, 1.3750407695770264, -0.6454628705978394, 1.350776195526123, 0.21208415925502777, -1.1893494129180908, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.06286817789077759, 1.3521019220352173, -0.7115756273269653, 0.8640710711479187, 0.48839712142944336, -0.712744414806366, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.06286817789077759, 1.2841575145721436, -0.7443006038665771, 0.497345894575119, 0.5977011919021606, -0.41070154309272766, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.07227049022912979, 1.0701196193695068, -0.6195934414863586, 0.44935745000839233, 0.42950618267059326, -0.3148990869522095, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1176946684718132, 0.7312175631523132, -0.36988258361816406, 0.4764130711555481, 0.17360268533229828, -0.2925707697868347, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.15478061139583588, 0.45302069187164307, -0.12973102927207947, 0.4764130711555481, 0.024910032749176025, -0.28437209129333496, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.1640433818101883, 0.2698412239551544, -0.017914988100528717, 0.4764130711555481, -0.027212640270590782, -0.28229624032974243, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.16578777134418488, 0.1827956736087799, -0.006506612058728933, 0.45860275626182556, -0.044534530490636826, -0.28229624032974243, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.16578777134418488, 0.15446661412715912, -0.004169115796685219, 0.44358348846435547, -0.04640103876590729, -0.28229624032974243, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.047848891466856, -0.28060418367385864, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.047848891466856, -0.28060418367385864, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.047848891466856, -0.28060418367385864, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.04847687482833862, -0.28060418367385864, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.3115324079990387, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.050186388194561005, -0.28060418367385864, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.085604667663574, -1.2096716165542603, -0.31332913041114807, 0.8020402193069458, 1.5697157382965088, 0.04, -0.04, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.050186388194561005, -0.28060418367385864, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11396165192127228, 2.072399616241455, -1.2073166370391846, -0.29393139481544495, 0.792533278465271, 1.526158094406128, 0.04, -0.04, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.050186388194561005, -0.28060418367385864, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11605492979288101, 2.0263822078704834, -1.1899948120117188, -0.23270295560359955, 0.799353837966919, 1.4393218755722046, 0.03840000182390213, -0.03840000182390213, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.050186388194561005, -0.28060418367385864, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11605492979288101, 1.9114089012145996, -1.1881108283996582, -0.20207129418849945, 0.8074129819869995, 1.2822387218475342, 0.012350000441074371, -0.012350000441074371, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.050186388194561005, -0.28060418367385864, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1137697696685791, 1.7664142847061157, -1.1881108283996582, -0.19008727371692657, 0.8042382001876831, 0.9235551357269287, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.050186388194561005, -0.28060418367385864, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08275433629751205, 1.6388288736343384, -1.1588921546936035, -0.16765429079532623, 0.8065407872200012, 0.6176920533180237, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.050186388194561005, -0.28060418367385864, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04120272770524025, 1.4214767217636108, -0.9697642922401428, -0.18799398839473724, 0.7035688757896423, 0.4787331223487854, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.004169115796685219, 0.4417693018913269, -0.050186388194561005, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025293799117207527, 1.0854005813598633, -0.6504344344139099, -0.3263249099254608, 0.4541545510292053, 0.42331355810165405, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.050186388194561005, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030736327171325684, 0.758029043674469, -0.31284070014953613, -0.4109632074832916, 0.1569611132144928, 0.42331355810165405, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.050186388194561005, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030736327171325684, 0.46195200085639954, -0.09049947559833527, -0.4934035539627075, -0.03132942318916321, 0.42331355810165405, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.050186388194561005, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030736327171325684, 0.2526589035987854, -0.012175912037491798, -0.54962557554245, -0.06185642257332802, 0.42331355810165405, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.050186388194561005, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030736327171325684, 0.12067759037017822, -0.0046575479209423065, -0.5515269637107849, -0.06339149922132492, 0.4419437348842621, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.050186388194561005, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030736327171325684, 0.052454106509685516, -0.0046575479209423065, -0.5496429800987244, -0.06450790911912918, 0.44599074125289917, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030736327171325684, 0.013292328454554081, -0.0046575479209423065, -0.5433980226516724, -0.06696751713752747, 0.44599074125289917, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030736327171325684, 0.005372751969844103, -0.0046575479209423065, -0.5414966344833374, -0.06696751713752747, 0.44686293601989746, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030736327171325684, 0.0038027919363230467, -0.0046575479209423065, -0.5420024991035461, -0.06696751713752747, 0.44686293601989746, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030736327171325684, 0.0038027919363230467, -0.0046575479209423065, -0.5392115116119385, -0.06696751713752747, 0.44686293601989746, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030736327171325684, 0.0038027919363230467, -0.0046575479209423065, -0.5366297960281372, -0.06696751713752747, 0.44686293601989746, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.030736327171325684, 0.0038027919363230467, -0.0046575479209423065, -0.4528287947177887, -0.04348789155483246, 0.3993280529975891, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.02025248482823372, 0.0038027919363230467, -0.0046575479209423065, -0.17170129716396332, 0.00907087977975607, 0.18255145847797394, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0038027919363230467, -0.0046575479209423065, -0.011199047788977623, 0.07246237248182297, 0.005965847987681627, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03815002739429474, 0.15390841662883759, -0.036841727793216705, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.053082093596458435, 0.22713832557201385, -0.05044804885983467, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.05719887465238571, 0.25546738505363464, -0.047901224344968796, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.05719887465238571, 0.25246700644493103, 0.0, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.049715399742126465, 0.24758268892765045, 0.03579508885741234, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.0408189594745636, 0.24543708562850952, 0.047203462570905685, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.24543708562850952, 0.049314189702272415, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.24001199007034302, 0.049314189702272415, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22483570873737335, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.4417693018913269, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.16578777134418488, 0.15164069831371307, -0.00284337205812335, 0.43203553557395935, -0.05210522934794426, -0.2786853313446045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.15280944108963013, 0.12428849935531616, -0.00284337205812335, 0.3469611704349518, -0.04835476726293564, -0.2739754617214203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.1051873192191124, 0.07111918926239014, -0.001971171936020255, 0.2094152271747589, -0.045633502304553986, -0.22105036675930023, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.05367518961429596, 0.018246423453092575, -0.001971171936020255, 0.11636892706155777, -0.045633502304553986, -0.15662968158721924, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.021089795976877213, 0.0073613678105175495, -0.001971171936020255, 0.07841078191995621, -0.025206580758094788, -0.11834009736776352, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.011949139647185802, 0.005494860000908375, -0.001971171936020255, 0.0274742990732193, 0.03748715668916702, -0.057233765721321106, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.005494860000908375, -0.001971171936020255, -0.015193724073469639, 0.09058669209480286, -0.02016526460647583, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.005494860000908375, -0.001971171936020255, -0.045232292264699936, 0.10855401307344437, -0.00910576805472374, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.005494860000908375, -0.001971171936020255, -0.05353563651442528, 0.1302892416715622, -0.00910576805472374, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.005494860000908375, -0.001971171936020255, -0.04277268797159195, 0.1820979118347168, -0.00910576805472374, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.005494860000908375, -0.001971171936020255, -0.03656262531876564, 0.21689869463443756, -0.00910576805472374, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.005494860000908375, -0.001971171936020255, -0.02951524779200554, 0.21557295322418213, -0.00910576805472374, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.005494860000908375, -0.001971171936020255, -0.022851640358567238, 0.20754870772361755, -0.0073613678105175495, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.005494860000908375, -0.001971171936020255, -0.020932799205183983, 0.17757992446422577, -0.005442528054118156, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.005494860000908375, -0.001971171936020255, -0.020932799205183983, 0.13072533905506134, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.005494860000908375, -0.001971171936020255, -0.020932799205183983, 0.12850995361804962, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.020932799205183983, 0.1476460099220276, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.020932799205183983, 0.16685186326503754, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.023357516154646873, 0.16917191445827484, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.029707131907343864, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002721264027059078, 0.0038027919363230467, -0.0046575479209423065, 0.03893500939011574, 0.22342275083065033, 0.04734301567077637, 0.0, -0.0, 0.009629088453948498, 0.0033492480870336294, -0.001971171936020255, -0.03204462677240372, 0.171055868268013, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-aloha/000039/meta.json b/rc-table30-v2__rc-aloha/000039/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5186905d20e9b9384bba9ccb0cc47876ddee780b
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000039/meta.json
@@ -0,0 +1,133 @@
+{
+ "format_version": 8,
+ "prompt": "Box up the tablet and its accessories.",
+ "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "site",
+ "object_name": "gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ },
+ {
+ "object_type": "site",
+ "object_name": "fr_gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "fl_base_link",
+ "fl_link1",
+ "fl_link2",
+ "fl_link3",
+ "fl_link4",
+ "fl_link5",
+ "fl_link6",
+ "fl_link7",
+ "fl_link8"
+ ],
+ [
+ "fr_base_link",
+ "fr_link1",
+ "fr_link2",
+ "fr_link3",
+ "fr_link4",
+ "fr_link5",
+ "fr_link6",
+ "fr_link7",
+ "fr_link8"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "gripper_center",
+ "finger_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "fr_gripper_center",
+ "finger_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-aloha",
+ "source_repo_id": "rc-table30-v2/rc-aloha",
+ "episode_index": 1753,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "ALOHA"
+ }
+}
diff --git a/rc-table30-v2__rc-aloha/000041/temporal.json b/rc-table30-v2__rc-aloha/000041/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f877c366b83895c1df7873bfee3aa7d3b7632e9
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000041/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.004081896040588617, -0.004273780155926943, 0.0, 0.11813076585531235, -0.005285532213747501, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.001482740044593811, 0.011792143806815147, 0.1349293440580368, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.004081896040588617, -0.004273780155926943, 0.0, 0.11813076585531235, -0.005285532213747501, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.001482740044593811, 0.011792143806815147, 0.1349293440580368, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.004081896040588617, -0.004273780155926943, 0.0, 0.11813076585531235, -0.005285532213747501, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.001482740044593811, 0.011792143806815147, 0.1349293440580368, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.004081896040588617, -0.004273780155926943, 0.0, 0.11813076585531235, -0.005285532213747501, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.001482740044593811, 0.011792143806815147, 0.1349293440580368, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.004081896040588617, -0.004273780155926943, 0.0, 0.11813076585531235, -0.005285532213747501, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.001482740044593811, 0.011792143806815147, 0.1349293440580368, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.004081896040588617, -0.004273780155926943, 0.0, 0.11813076585531235, -0.005285532213747501, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.001482740044593811, 0.011792143806815147, 0.1349293440580368, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.004081896040588617, -0.004273780155926943, 0.0, 0.11813076585531235, -0.005285532213747501, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.001482740044593811, 0.011792143806815147, 0.1349293440580368, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.004081896040588617, -0.004273780155926943, 0.0, 0.11394421011209488, -0.005285532213747501, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.001482740044593811, 0.011792143806815147, 0.1349293440580368, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.004081896040588617, -0.004273780155926943, -0.03230628743767738, 0.08177746832370758, -0.005285532213747501, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.001482740044593811, 0.011792143806815147, 0.1349293440580368, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.004081896040588617, -0.004273780155926943, -0.18155714869499207, 0.04716857522726059, -0.005285532213747501, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.001482740044593811, 0.05158190801739693, 0.08441151678562164, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.004081896040588617, -0.004273780155926943, -0.40297383069992065, 0.015176280401647091, -0.007343924138695002, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.001482740044593811, 0.12802152335643768, -0.024264603853225708, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.0035062439274042845, -0.015019283629953861, -0.4952002763748169, 0.005808852147310972, -0.007343924138695002, 0.0, -0.0, 0.013833091594278812, 0.0031922520138323307, -0.015368163585662842, 0.16999177634716034, -0.10405346006155014, -0.006367059890180826, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.020758360624313354, -0.11870642006397247, -0.4356464445590973, 0.0, -0.007343924138695002, 0.0, -0.0, 0.013833091594278812, 0.020444367080926895, -0.10072165727615356, 0.18033607304096222, -0.117747001349926, -0.04357511177659035, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.1358189880847931, -0.30172887444496155, -0.3122127056121826, 0.02777084708213806, -0.007343924138695002, 0.0, -0.0, 0.013833091594278812, 0.12770752608776093, -0.2542811930179596, 0.18033607304096222, -0.11750278621912003, -0.07486964762210846, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.34246060252189636, -0.5215407013893127, -0.1867380142211914, 0.14726224541664124, -0.007343924138695002, 0.0, -0.0, 0.013833091594278812, 0.3093344569206238, -0.4385421574115753, 0.18033607304096222, 0.024543708190321922, -0.08688856661319733, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.5895723104476929, -0.723193347454071, -0.06628719717264175, 0.35364222526550293, 0.0, 0.0, -0.0, 0.013833091594278812, 0.5442004799842834, -0.6314728260040283, 0.1459190547466278, 0.26338696479797363, -0.09238342195749283, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 0.8531860113143921, -0.880782425403595, -0.006332172080874443, 0.5333677530288696, 0.0, 0.0, -0.0, 0.013833091594278812, 0.7925681471824646, -0.7763451933860779, 0.11938673257827759, 0.4347219169139862, -0.09681420028209686, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.1155961751937866, -0.987121045589447, 0.005773963872343302, 0.6081152558326721, 0.0, 0.0, -0.0, 0.013833091594278812, 0.990278422832489, -0.8482668399810791, 0.11938673257827759, 0.4882749915122986, -0.09681420028209686, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.3007118701934814, -1.0495531558990479, 0.011984027922153473, 0.6266233921051025, 0.0, 0.0, -0.0, 0.02911403588950634, 1.1519320011138916, -0.9057447910308838, 0.11938673257827759, 0.5388102531433105, -0.09892492741346359, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.4239014387130737, -1.0830107927322388, 0.013780759647488594, 0.638938844203949, 0.009611643850803375, 0.0, -0.0, 0.1098623126745224, 1.2716675996780396, -0.9835276007652283, 0.11350810527801514, 0.6399505734443665, -0.12926003336906433, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.4974278211593628, -1.08559250831604, 0.016100812703371048, 0.6885321140289307, 0.08012029528617859, 0.0, -0.0, 0.22244589030742645, 1.350758671760559, -1.0510358810424805, 0.1114497184753418, 0.7227049469947815, -0.14161039888858795, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.5369210243225098, -1.08559250831604, 0.016100812703371048, 0.8121402859687805, 0.20043155550956726, 0.0, -0.0, 0.2942279577255249, 1.4182146787643433, -1.0954482555389404, 0.10937388241291046, 0.763018012046814, -0.12104391306638718, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.5611507892608643, -1.08559250831604, 0.016100812703371048, 0.9666592478752136, 0.2971934378147125, 0.0, -0.0, 0.31285813450813293, 1.4830540418624878, -1.1033504009246826, 0.10937388241291046, 0.775246262550354, -0.10619907081127167, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.5804438591003418, -1.08559250831604, 0.020043155178427696, 1.028341293334961, 0.32848796248435974, 0.0, -0.0, 0.3153875172138214, 1.5410029888153076, -1.1033504009246826, 0.10555364191532135, 0.7819970846176147, -0.10192529112100601, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.584333896636963, -1.0831154584884644, 0.021700335666537285, 0.9947964549064636, 0.34417012333869934, 0.0, -0.0, 0.3153875172138214, 1.574739694595337, -1.1033504009246826, 0.10555364191532135, 0.7857475280761719, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.5875260829925537, -1.0676599740982056, 0.0, 0.9631181359291077, 0.4965609014034271, 0.0, -0.0, 0.3153875172138214, 1.5930384397506714, -1.1033504009246826, 0.10555364191532135, 0.7857475280761719, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.603714108467102, -1.0415812730789185, -0.04200515151023865, 0.9697642922401428, 0.7698211669921875, 0.0, -0.0, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7754729986190796, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.6344504356384277, -1.0193227529525757, -0.05603012815117836, 0.957222044467926, 0.8954528570175171, 0.0003499999875202775, -0.0003499999875202775, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7697165012359619, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.6725831031799316, -1.0132696628570557, -0.05765242129564285, 0.8989765644073486, 0.9159844517707825, 0.005100000184029341, -0.005100000184029341, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7668207883834839, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.6933937072753906, -1.0132696628570557, -0.05765242129564285, 0.8232346773147583, 0.9041574001312256, 0.020150000229477882, -0.020150000229477882, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7668207883834839, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.6933937072753906, -1.0132696628570557, -0.05765242129564285, 0.8077444434165955, 0.899587094783783, 0.028200000524520874, -0.028200000524520874, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7668207883834839, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.6933937072753906, -1.0132696628570557, -0.05765242129564285, 0.7938590049743652, 0.8969530463218689, 0.03135000169277191, -0.03135000169277191, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7627214789390564, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.6933937072753906, -1.0132696628570557, -0.05765242129564285, 0.7722458839416504, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.75966876745224, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.6933937072753906, -1.0132696628570557, -0.05765242129564285, 0.7542785406112671, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.75966876745224, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.7047148942947388, -1.0132696628570557, -0.05765242129564285, 0.7520108222961426, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7580115795135498, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.7355908155441284, -1.0132696628570557, -0.06843281537294388, 0.7560055255889893, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7580115795135498, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.7706880569458008, -1.0132696628570557, -0.08059127628803253, 0.7625470161437988, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7580115795135498, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.8033432960510254, -1.0132696628570557, -0.08884229511022568, 0.7692280411720276, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7580115795135498, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.833817958831787, -1.0132696628570557, -0.089470274746418, 0.7731355428695679, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7580115795135498, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.8616236448287964, -1.0132696628570557, -0.09119722992181778, 0.7754032611846924, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7580115795135498, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.09119722992181778, 0.7754555940628052, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7580115795135498, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.09119722992181778, 0.7716527581214905, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7580115795135498, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.09119722992181778, 0.762494683265686, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3153875172138214, 1.6024930477142334, -1.1033504009246826, 0.10555364191532135, 0.7573137879371643, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.09119722992181778, 0.7600874304771423, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3201148509979248, 1.6043072938919067, -1.1033504009246826, 0.10555364191532135, 0.7423642873764038, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.09119722992181778, 0.7600874304771423, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.3490893244743347, 1.6244550943374634, -1.1056181192398071, 0.09991922974586487, 0.70018470287323, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.09119722992181778, 0.7579767107963562, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4095153510570526, 1.6686581373214722, -1.1342437267303467, 0.08505694568157196, 0.6885495781898499, -0.09950057417154312, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.09119722992181778, 0.7541913390159607, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4519391655921936, 1.7574306726455688, -1.2290867567062378, 0.04826754704117775, 0.7256355285644531, -0.08310321718454361, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.09780851006507874, 0.751906156539917, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.45793989300727844, 1.8692816495895386, -1.3689004182815552, 0.0262881089001894, 0.8223799467086792, -0.053867071866989136, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.1185319796204567, 0.735875129699707, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.45793989300727844, 1.9801557064056396, -1.5143311023712158, 0.01482740044593811, 0.9148505926132202, -0.043976325541734695, 0.0017500000540167093, -0.0017500000540167093, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.1341966986656189, 0.726280927658081, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4621438980102539, 2.076690673828125, -1.6326013803482056, 0.01482740044593811, 0.9754510521888733, -0.0399990938603878, 0.01075000036507845, -0.01075000036507845, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.14714014530181885, 0.7183962464332581, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4629288613796234, 2.1407103538513184, -1.7097039222717285, 0.01482740044593811, 0.9884817004203796, -0.024055276066064835, 0.023800000548362732, -0.023800000548362732, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.1561586856842041, 0.7137736082077026, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.186361074447632, -1.7443301677703857, 0.013030667789280415, 0.9744218587875366, 0.009908191859722137, 0.03150000050663948, -0.03150000050663948, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.16212452948093414, 0.713930606842041, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.21988844871521, -1.7531918287277222, 0.013030667789280415, 0.9356438517570496, 0.03164341673254967, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.16447947919368744, 0.713930606842041, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.2469441890716553, -1.7545523643493652, 0.013030667789280415, 0.8989416360855103, 0.05011661350727081, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.16611921787261963, 0.713930606842041, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.266655921936035, -1.7545523643493652, 0.013030667789280415, 0.8750084638595581, 0.05545447766780853, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.16611921787261963, 0.713930606842041, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.285966396331787, -1.7545523643493652, 0.013030667789280415, 0.8644723296165466, 0.057948969304561615, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.16611921787261963, 0.713930606842041, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.3118183612823486, -1.7545523643493652, 0.013030667789280415, 0.8620824813842773, 0.057948969304561615, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.16611921787261963, 0.713930606842041, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.331983804702759, -1.7554420232772827, 0.013030667789280415, 0.8620824813842773, 0.06084467098116875, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.16693907976150513, 0.713930606842041, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.334268808364868, -1.7597507238388062, 0.013030667789280415, 0.8642978668212891, 0.07349157333374023, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.16693907976150513, 0.7159017324447632, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.3362574577331543, -1.7597507238388062, 0.013030667789280415, 0.8663039207458496, 0.07568951696157455, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.16693907976150513, 0.7180648446083069, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.3362574577331543, -1.7597507238388062, 0.014984396286308765, 0.8663039207458496, 0.07568951696157455, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.1686485856771469, 0.7180648446083069, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.3362574577331543, -1.7621231079101562, 0.014984396286308765, 0.8702811598777771, 0.08053895086050034, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.1686485856771469, 0.7180648446083069, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.3383333683013916, -1.7641814947128296, 0.014984396286308765, 0.8772761821746826, 0.1019601821899414, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.1686485856771469, 0.7180648446083069, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.3383333683013916, -1.765716552734375, 0.014984396286308765, 0.8794741630554199, 0.11073451489210129, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.16936379671096802, 0.722199022769928, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4646209478378296, 2.3383333683013916, -1.765716552734375, 0.014984396286308765, 0.8802416920661926, 0.11268824338912964, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.17096863687038422, 0.7226700186729431, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.016781127080321312, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.17096863687038422, 0.7291068434715271, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.17096863687038422, 0.7332934141159058, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.17096863687038422, 0.7332934141159058, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.17096863687038422, 0.7346366047859192, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.15169303119182587, 0.7346366047859192, 0.8969530463218689, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.876468539237976, -1.0132696628570557, -0.13686563074588776, 0.7346366047859192, 0.8948946595191956, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.8806202411651611, -1.0132696628570557, -0.1286669373512268, 0.7355087995529175, 0.8948946595191956, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.8961279392242432, -1.0132696628570557, -0.12530025839805603, 0.7355087995529175, 0.8948946595191956, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.903210163116455, -1.0132696628570557, -0.12339885532855988, 0.740410566329956, 0.8948946595191956, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.903210163116455, -1.0132696628570557, -0.12339885532855988, 0.7440389394760132, 0.8948946595191956, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.903210163116455, -1.0114206075668335, -0.12339885532855988, 0.7440564036369324, 0.8948946595191956, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.912542700767517, -1.0114206075668335, -0.12149745970964432, 0.7440564036369324, 0.8948946595191956, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.9230265617370605, -1.0114206075668335, -0.1177295595407486, 0.7479115128517151, 0.8948946595191956, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.9226951599121094, -1.0114206075668335, -0.1177295595407486, 0.7575057148933411, 0.8948946595191956, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.9226951599121094, -1.0114206075668335, -0.1177295595407486, 0.7592326402664185, 0.8948946595191956, 0.03200000151991844, -0.03200000151991844, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.9226951599121094, -1.0114206075668335, -0.1177295595407486, 0.7592326402664185, 0.8948946595191956, 0.03189999982714653, -0.03189999982714653, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.9226951599121094, -1.0114206075668335, -0.11593282222747803, 0.7592326402664185, 0.8948946595191956, 0.02810000069439411, -0.02810000069439411, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.9226951599121094, -1.0114206075668335, -0.11397909373044968, 0.7616399526596069, 0.8948946595191956, 0.01360000018030405, -0.01360000018030405, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.9226951599121094, -1.0140197277069092, -0.1122172549366951, 0.7665940523147583, 0.8948946595191956, 0.0, -0.0, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.9055825471878052, -1.0367841720581055, -0.1122172549366951, 0.8024937510490417, 0.8754445910453796, 0.0, -0.0, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.010431512258946896, 1.8609085083007812, -1.100489616394043, -0.1122172549366951, 0.8326195478439331, 0.7758916616439819, 0.0, -0.0, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.00188395194709301, 1.808890461921692, -1.198402762413025, -0.12912048399448395, 0.8783053755760193, 0.6917941570281982, 0.0, -0.0, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05616968125104904, 1.7877134084701538, -1.2868962287902832, -0.13149286806583405, 0.9330795407295227, 0.6397587060928345, 0.0, -0.0, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.16896258294582367, 1.7966796159744263, -1.3418971300125122, -0.11392676085233688, 0.9504537582397461, 0.5736634135246277, 0.0, -0.0, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.2738010287284851, 1.8464648723602295, -1.3751977682113647, -0.06323450058698654, 0.9548322558403015, 0.47824469208717346, 0.0, -0.0, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.018612748011946678, 0.8802416920661926, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.35055461525917053, 1.9344000816345215, -1.4002822637557983, -0.0196070559322834, 0.9612690806388855, 0.3977929651737213, 0.0, -0.0, 0.4623880982398987, 2.3383333683013916, -1.765716552734375, 0.02204921655356884, 0.8845852613449097, 0.1145547479391098, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4071604013442993, 2.006967067718506, -1.4218778610229492, -0.005285532213747501, 0.9650195240974426, 0.3570438027381897, 0.0, -0.0, 0.4623880982398987, 2.3383333683013916, -1.7663445472717285, 0.035044994205236435, 0.8992207646369934, 0.1168747991323471, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4481189250946045, 2.0362555980682373, -1.4314197301864624, 0.0, 0.9553031921386719, 0.34498998522758484, 0.0, -0.0, 0.4623880982398987, 2.3383333683013916, -1.768019199371338, 0.05063993111252785, 0.9361147880554199, 0.1168747991323471, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.46742942929267883, 2.0450997352600098, -1.433896780014038, 0.005547191947698593, 0.9469301104545593, 0.3404719829559326, 0.0, -0.0, 0.4576782286167145, 2.3383333683013916, -1.768019199371338, 0.07235771417617798, 0.9539600014686584, 0.1192471832036972, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.015908928588032722, 0.9430400729179382, 0.31837043166160583, 0.0, -0.0, 0.4496365487575531, 2.3383333683013916, -1.768019199371338, 0.09015059471130371, 0.9654730558395386, 0.14881476759910583, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.061158664524555206, 0.940336287021637, 0.23659297823905945, 0.0, -0.0, 0.44464755058288574, 2.3401126861572266, -1.768019199371338, 0.10009367018938065, 0.9727297425270081, 0.1678985059261322, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.11014141887426376, 0.940336287021637, 0.17693449556827545, 0.0, -0.0, 0.4392399191856384, 2.3401126861572266, -1.768019199371338, 0.1098623126745224, 0.9753637909889221, 0.1703057736158371, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.12313719838857651, 0.938295304775238, 0.1373714953660965, 0.0, -0.0, 0.43433815240859985, 2.3401126861572266, -1.768019199371338, 0.12423616647720337, 0.9777536392211914, 0.18089428544044495, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.12545724213123322, 0.938295304775238, 0.12359073758125305, 0.0, -0.0, 0.41469621658325195, 2.343810796737671, -1.768019199371338, 0.17393411695957184, 0.9868245124816895, 0.1859704852104187, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.1270795464515686, 0.938295304775238, 0.11875875294208527, 0.0, -0.0, 0.38491931557655334, 2.343985080718994, -1.768019199371338, 0.22821985185146332, 0.9934532642364502, 0.1875578910112381, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.12922514975070953, 0.938295304775238, 0.11875875294208527, 0.0, -0.0, 0.37033611536026, 2.343985080718994, -1.768019199371338, 0.24768735468387604, 0.9976572394371033, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.12922514975070953, 0.938295304775238, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.12922514975070953, 0.938295304775238, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.12922514975070953, 0.938295304775238, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.12922514975070953, 0.938295304775238, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.045117139816284, -1.433896780014038, 0.1341966986656189, 0.9289453029632568, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.055722951889038, -1.433896780014038, 0.14787279069423676, 0.9171880483627319, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.0964722633361816, -1.433896780014038, 0.15345486998558044, 0.915356457233429, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.1402740478515625, -1.448549747467041, 0.15425729751586914, 0.9310386180877686, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.163893222808838, -1.4912875890731812, 0.14726224541664124, 0.9588094353675842, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.1882801055908203, -1.5301004648208618, 0.13046367466449738, 0.9835101366043091, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.47348248958587646, 2.203526020050049, -1.553039312362671, 0.11525250971317291, 1.006518840789795, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.46723753213882446, 2.2113234996795654, -1.5591970682144165, 0.09002848714590073, 1.0149441957473755, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4630509912967682, 2.2137482166290283, -1.5639941692352295, 0.045232292264699936, 1.0188865661621094, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4630509912967682, 2.2160160541534424, -1.5658082962036133, -0.032847050577402115, 1.008280634880066, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.48147183656692505, 2.2160160541534424, -1.5658082962036133, -0.050727151334285736, 0.9981282353401184, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5333154201507568, 2.2160160541534424, -1.5658082962036133, -0.054669495671987534, 0.9782246351242065, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5959917306900024, 2.2160160541534424, -1.5658082962036133, -0.05892583355307579, 0.9533146023750305, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6496669054031372, 2.2203943729400635, -1.5658082962036133, -0.05950148403644562, 0.9397954940795898, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 0.9974828362464905, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6853573322296143, 2.2265870571136475, -1.5703437328338623, -0.05526259168982506, 0.9381906390190125, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0015298128128052, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6985624432563782, 2.228593111038208, -1.5716171264648438, -0.04524973779916763, 0.9359752535820007, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0013728141784668, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6985624432563782, 2.231105089187622, -1.5823975801467896, -0.03893500939011574, 0.9436855316162109, 0.11875875294208527, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0013728141784668, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6944107413291931, 2.2417807579040527, -1.6125408411026, -0.02637532725930214, 0.9731135368347168, 0.10494310408830643, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0013728141784668, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.682636022567749, 2.2551429271698, -1.65090012550354, -0.009192988276481628, 1.00698983669281, 0.07445099204778671, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0013728141784668, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6487772464752197, 2.2722206115722656, -1.688247799873352, 0.024578595533967018, 1.0002564191818237, 0.04903508350253105, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.001704216003418, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.605620801448822, 2.2851641178131104, -1.712093710899353, 0.05377985164523125, 0.999872624874115, 0.04210981726646423, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0035532712936401, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5744134783744812, 2.2989797592163086, -1.727217674255371, 0.06288561969995499, 1.0174212455749512, 0.03760926425457001, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0035532712936401, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5697210431098938, 2.298473834991455, -1.7293109893798828, 0.06096677854657173, 1.0244686603546143, 0.03760926425457001, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0035532712936401, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5731574892997742, 2.301142692565918, -1.7332532405853271, 0.06096677854657173, 1.0292831659317017, 0.03760926425457001, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0054023265838623, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5882989168167114, 2.3019275665283203, -1.7371432781219482, 0.060164354741573334, 1.0414766073226929, 0.03760926425457001, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0054023265838623, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6241114139556885, 2.3019275665283203, -1.737195611000061, 0.03792325779795647, 1.0516812801361084, 0.03965021297335625, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0054023265838623, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6801241040229797, 2.3019275665283203, -1.737195611000061, 0.01510650385171175, 1.0542106628417969, 0.041952818632125854, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.015048861503601, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7275543808937073, 2.3019275665283203, -1.737195611000061, -0.014199416153132915, 1.0579087734222412, 0.041952818632125854, 0.0, -0.0, 0.3670741021633148, 2.343985080718994, -1.7662572860717773, 0.24990274012088776, 1.0221136808395386, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7443006038665771, 2.299450635910034, -1.7281596660614014, -0.03617885708808899, 1.057978630065918, 0.03759181872010231, 0.0, -0.0, 0.3647714853286743, 2.343985080718994, -1.7662572860717773, 0.24826300144195557, 1.0305217504501343, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7462891936302185, 2.2848501205444336, -1.7044706344604492, -0.04047007858753204, 1.0441629886627197, 0.03940599784255028, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.25007718801498413, 1.0311671495437622, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7559183239936829, 2.260166645050049, -1.661279320716858, -0.04298201575875282, 1.0308880805969238, 0.03178296983242035, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.25007718801498413, 1.0329813957214355, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7556391954421997, 2.22688364982605, -1.6055806875228882, -0.014286636374890804, 1.0281493663787842, 0.0, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.25007718801498413, 1.0329813957214355, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7413700222969055, 2.189326763153076, -1.5448580980300903, 0.0, 1.0190958976745605, -0.010536176152527332, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.25007718801498413, 1.0329813957214355, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7085927128791809, 2.1650619506835938, -1.4931540489196777, 0.0, 0.994621992111206, -0.0321841798722744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2480362355709076, 1.0329813957214355, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6647908687591553, 2.151263952255249, -1.4536434412002563, 0.0, 0.9663103818893433, -0.049628179520368576, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2480362355709076, 1.0329813957214355, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6174827218055725, 2.1422104835510254, -1.4309139251708984, 0.0, 0.9533494710922241, -0.053326308727264404, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2480362355709076, 1.0329813957214355, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5723202228546143, 2.1358609199523926, -1.418511152267456, 0.02009548805654049, 0.9491803646087646, -0.05388451740145683, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2480362355709076, 1.033713936805725, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5335770845413208, 2.134011745452881, -1.4142199754714966, 0.04497063159942627, 0.9491803646087646, -0.05554169416427612, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2480362355709076, 1.033713936805725, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5121209621429443, 2.128516912460327, -1.4103996753692627, 0.08326020836830139, 0.9491803646087646, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24664071202278137, 1.033713936805725, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4990379512310028, 2.1237547397613525, -1.4062305688858032, 0.12420128285884857, 0.9491803646087646, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2456638514995575, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.49720633029937744, 2.119847297668457, -1.403875708580017, 0.13470256328582764, 0.9450810551643372, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2456638514995575, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4989681839942932, 2.1130266189575195, -1.3873213529586792, 0.12123580276966095, 0.9281777739524841, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2456638514995575, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5108301043510437, 2.101304292678833, -1.367958426475525, 0.10921688377857208, 0.9154262542724609, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5541435480117798, 2.0953383445739746, -1.3570560216903687, 0.09679675847291946, 0.9128096103668213, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6107667684555054, 2.0945534706115723, -1.3553813695907593, 0.050186388194561005, 0.9077508449554443, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6661339998245239, 2.0945534706115723, -1.3553813695907593, -0.010431512258946896, 0.8925396800041199, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7254785299301147, 2.0945534706115723, -1.3553813695907593, -0.043749552220106125, 0.8753050565719604, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7800782322883606, 2.0945534706115723, -1.3553813695907593, -0.05147724226117134, 0.8640710711479187, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8126636147499084, 2.0945534706115723, -1.3553813695907593, -0.05147724226117134, 0.8597275614738464, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8150011301040649, 2.0945534706115723, -1.3553813695907593, -0.05147724226117134, 0.8597275614738464, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8129776120185852, 2.0945534706115723, -1.3553813695907593, -0.04524973779916763, 0.861925482749939, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7984642386436462, 2.0945534706115723, -1.3553813695907593, -0.039981648325920105, 0.8685367703437805, -0.05746053531765938, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.0354409217834473, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7660881280899048, 2.0897040367126465, -1.3553813695907593, -0.029794352129101753, 0.899325430393219, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7148028016090393, 2.0793073177337646, -1.3463279008865356, 0.0, 0.9202058911323547, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6573247909545898, 2.064584732055664, -1.3235634565353394, 0.02543335221707821, 0.9222468137741089, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6078536510467529, 2.0572407245635986, -1.297781229019165, 0.06009458005428314, 0.9149377942085266, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2439892292022705, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5704711079597473, 2.053280830383301, -1.2856402397155762, 0.06939223408699036, 0.9000057578086853, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5513525009155273, 2.053280830383301, -1.2852389812469482, 0.07774791121482849, 0.8939352035522461, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5566380620002747, 2.053280830383301, -1.2852389812469482, 0.07774791121482849, 0.8939352035522461, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5812166333198547, 2.0510480403900146, -1.2852389812469482, 0.08437662571668625, 0.8939352035522461, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6270943284034729, 2.0497920513153076, -1.2852389812469482, 0.04809310659766197, 0.8977554440498352, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.681519627571106, 2.0488674640655518, -1.2852389812469482, -0.006157732103019953, 0.8972844481468201, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7372183203697205, 2.0488674640655518, -1.2852389812469482, -0.04697669297456741, 0.8628848791122437, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7834623456001282, 2.0488674640655518, -1.2852389812469482, -0.07080519944429398, 0.8229032754898071, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.809750497341156, 2.0488674640655518, -1.2852389812469482, -0.08523138612508774, 0.8038544058799744, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8092795014381409, 2.0488674640655518, -1.2852389812469482, -0.08681878447532654, 0.8012726902961731, -0.059292156249284744, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8117565512657166, 2.0506467819213867, -1.2852389812469482, -0.06154243275523186, 0.8035404086112976, -0.06112377718091011, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.188273087143898, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8125415444374084, 2.0506467819213867, -1.2852389812469482, -0.005843739956617355, 0.825711727142334, -0.07858522236347198, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.1858832687139511, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8014296889305115, 2.0370404720306396, -1.2699581384658813, 0.06626975536346436, 0.8488075733184814, -0.11486873775720596, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.037917971611023, 0.18181881308555603, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7752811312675476, 2.0077171325683594, -1.2270283699035645, 0.13799948990345, 0.8667051196098328, -0.150698721408844, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0386680364608765, 0.178957998752594, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7309210300445557, 1.9825454950332642, -1.1812727451324463, 0.18577860295772552, 0.8689903020858765, -0.17956852912902832, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6823744177818298, 1.968939185142517, -1.1468558311462402, 0.1994372457265854, 0.8637222051620483, -0.18565648794174194, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6477131843566895, 1.9642293453216553, -1.1344705820083618, 0.1994372457265854, 0.8409752249717712, -0.18696479499340057, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6379270553588867, 1.9637757539749146, -1.130388617515564, 0.1994372457265854, 0.8320438861846924, -0.18696479499340057, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6421136260032654, 1.9637757539749146, -1.1282604932785034, 0.18576115369796753, 0.8262699246406555, -0.18696479499340057, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6528940200805664, 1.9620836973190308, -1.1282604932785034, 0.15755420923233032, 0.8164663910865784, -0.18495872616767883, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6917941570281982, 1.9620836973190308, -1.126969575881958, 0.12777729332447052, 0.7898643016815186, -0.1827956736087799, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7536331415176392, 1.9620836973190308, -1.126969575881958, 0.08524882793426514, 0.7628610134124756, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.808686375617981, 1.9620836973190308, -1.126969575881958, 0.03507988527417183, 0.730083703994751, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8544594645500183, 1.9620836973190308, -1.126969575881958, 0.006175175774842501, 0.6927361488342285, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8786543011665344, 1.9620836973190308, -1.126969575881958, 0.0, 0.6722742915153503, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8777821063995361, 1.9620836973190308, -1.126969575881958, 0.006192619912326336, 0.6707043647766113, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8461037874221802, 1.9620836973190308, -1.126969575881958, 0.012751564383506775, 0.6681051850318909, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7748275995254517, 1.9620836973190308, -1.126969575881958, 0.059518929570913315, 0.6635000109672546, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0404125452041626, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6989113092422485, 1.9620836973190308, -1.126969575881958, 0.1216893419623375, 0.6635000109672546, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0428372621536255, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6361129283905029, 1.9620836973190308, -1.126969575881958, 0.17293982207775116, 0.6701112389564514, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0452444553375244, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5861184000968933, 1.9620836973190308, -1.126969575881958, 0.219654843211174, 0.6800369024276733, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0452444553375244, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5518234968185425, 1.9620836973190308, -1.126969575881958, 0.24217505753040314, 0.6866481900215149, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0452444553375244, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5466077327728271, 1.9620836973190308, -1.126969575881958, 0.24627439677715302, 0.6914103627204895, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.2432914674282074, 1.0452444553375244, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5766113996505737, 1.9620836973190308, -1.126969575881958, 0.21698591113090515, 0.6914103627204895, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.241721510887146, 1.0452444553375244, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6386946439743042, 1.9620836973190308, -1.126969575881958, 0.17143963277339935, 0.6914103627204895, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.241721510887146, 1.0452444553375244, 0.1780857890844345, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7181520462036133, 1.9620836973190308, -1.1333192586898804, 0.12618990242481232, 0.6893171072006226, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.241721510887146, 1.0452444553375244, 0.17641116678714752, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7967895865440369, 1.9620836973190308, -1.135325312614441, 0.09777361899614334, 0.6656281352043152, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.241721510887146, 1.045959711074829, 0.17396901547908783, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8572505116462708, 1.9620836973190308, -1.135325312614441, 0.08484761416912079, 0.635519802570343, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.241721510887146, 1.050285816192627, 0.17396901547908783, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8719732165336609, 1.9620836973190308, -1.145041584968567, 0.08066105842590332, 0.6288213133811951, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.241721510887146, 1.054297924041748, 0.17396901547908783, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.846347987651825, 1.9578099250793457, -1.1845347881317139, 0.07584651559591293, 0.6450616717338562, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.241721510887146, 1.0586763620376587, 0.1670960783958435, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7861138582229614, 1.9050767421722412, -1.2369540929794312, 0.08577214926481247, 0.6967831254005432, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.0663865804672241, 0.14012765884399414, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7038305401802063, 1.8149958848953247, -1.2789068222045898, 0.13444091379642487, 0.7564765214920044, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.0725094079971313, 0.12428849935531616, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5867114663124084, 1.713855504989624, -1.290838599205017, 0.1844354122877121, 0.8157861232757568, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.077760100364685, 0.11839243024587631, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.453735888004303, 1.6281356811523438, -1.290838599205017, 0.20822903513908386, 0.8869576454162598, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.0794347524642944, 0.11778188496828079, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.326499342918396, 1.5885204076766968, -1.2886929512023926, 0.2102525383234024, 0.9445227980613708, -0.18078961968421936, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.081440806388855, 0.11607237905263901, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.233819380402565, 1.5774784088134766, -1.254886507987976, 0.20774058997631073, 0.9669034481048584, -0.14424443244934082, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.081440806388855, 0.11607237905263901, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.18804632127285004, 1.5794321298599243, -1.1787608861923218, 0.16685186326503754, 0.9669034481048584, -0.01165259163826704, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.081440806388855, 0.11607237905263901, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1663634330034256, 1.5964922904968262, -1.1044319868087769, 0.12121835350990295, 0.9452903866767883, 0.17250370979309082, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.0855401754379272, 0.11607237905263901, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1609557867050171, 1.633613109588623, -1.037656307220459, 0.11179859936237335, 0.9032328724861145, 0.2755803167819977, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.0855401754379272, 0.11422330886125565, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1609557867050171, 1.6812876462936401, -1.004338264465332, 0.11179859936237335, 0.8502554297447205, 0.30080434679985046, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.0894999504089355, 0.11422330886125565, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1609557867050171, 1.7312123775482178, -0.9909587502479553, 0.11357788741588593, 0.8099249005317688, 0.3060724139213562, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.091017484664917, 0.11422330886125565, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1609557867050171, 1.7711416482925415, -0.9909587502479553, 0.11357788741588593, 0.7904922962188721, 0.30792149901390076, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.0915931463241577, 0.11240913718938828, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1609557867050171, 1.7985985279083252, -0.9909587502479553, 0.11357788741588593, 0.7879629135131836, 0.29764696955680847, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.0915931463241577, 0.11240913718938828, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.15270477533340454, 1.821380376815796, -0.9909587502479553, 0.11357788741588593, 0.7863755226135254, 0.2486991137266159, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.0983091592788696, 0.11240913718938828, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.12803895771503448, 1.8370800018310547, -0.9909587502479553, 0.11357788741588593, 0.7863755226135254, 0.20526355504989624, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1070137023925781, 0.11057751625776291, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10867612063884735, 1.8419468402862549, -0.9909587502479553, 0.11357788741588593, 0.7902132272720337, 0.18467962741851807, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1167473793029785, 0.11057751625776291, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1011926457285881, 1.8419468402862549, -0.9909587502479553, 0.11357788741588593, 0.7968244552612305, 0.17836490273475647, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1224690675735474, 0.11057751625776291, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1011926457285881, 1.8419468402862549, -0.9892318248748779, 0.10769925266504288, 0.798970103263855, 0.17836490273475647, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1247717142105103, 0.11057751625776291, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1011926457285881, 1.8419468402862549, -0.9892318248748779, 0.08571981638669968, 0.803435742855072, 0.18099895119667053, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1247717142105103, 0.11057751625776291, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1011926457285881, 1.8419468402862549, -0.9892318248748779, 0.051355134695768356, 0.8223973512649536, 0.23591265082359314, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1247717142105103, 0.11057751625776291, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.1011926457285881, 1.8419468402862549, -0.9892318248748779, 0.0302130077034235, 0.8469585180282593, 0.27753403782844543, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1247717142105103, 0.11057751625776291, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10297193378210068, 1.8419468402862549, -0.9892318248748779, 0.02574734389781952, 0.8488599061965942, 0.2857152819633484, 0.0, -0.0, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1247717142105103, 0.10876333713531494, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10297193378210068, 1.8419468402862549, -0.9892318248748779, 0.02574734389781952, 0.8488599061965942, 0.2866049110889435, 0.0022499999031424522, -0.0022499999031424522, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1267428398132324, 0.09800039231777191, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10297193378210068, 1.8419468402862549, -0.9892318248748779, 0.02574734389781952, 0.8409926891326904, 0.2866049110889435, 0.010499999858438969, -0.010499999858438969, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1262718439102173, 0.0950000211596489, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10297193378210068, 1.8419468402862549, -0.9892318248748779, 0.02574734389781952, 0.8402948975563049, 0.2866049110889435, 0.02239999920129776, -0.02239999920129776, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1271440982818604, 0.09292418509721756, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10297193378210068, 1.8419468402862549, -0.9892318248748779, 0.02574734389781952, 0.8377132415771484, 0.2866049110889435, 0.03189999982714653, -0.03189999982714653, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1271440982818604, 0.08917372673749924, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10297193378210068, 1.8419468402862549, -0.9892318248748779, 0.02574734389781952, 0.8338930010795593, 0.2866049110889435, 0.03799999877810478, -0.03799999877810478, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1271440982818604, 0.08781309425830841, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10297193378210068, 1.8419468402862549, -0.9892318248748779, 0.02574734389781952, 0.8338930010795593, 0.27427202463150024, 0.03840000182390213, -0.03840000182390213, 0.3631666302680969, 2.343985080718994, -1.7662572860717773, 0.24102374911308289, 1.1271440982818604, 0.08781309425830841, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10297193378210068, 1.8400803804397583, -0.996593177318573, 0.02402038872241974, 0.842475414276123, 0.2329646199941635, 0.03840000182390213, -0.03840000182390213, 0.3631666302680969, 2.3308498859405518, -1.7662572860717773, 0.22774887084960938, 1.1355172395706177, 0.07984118908643723, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10297193378210068, 1.811140775680542, -1.034638524055481, 0.02402038872241974, 0.8601462244987488, 0.21799767017364502, 0.03819999843835831, -0.03819999843835831, 0.3631666302680969, 2.2794597148895264, -1.7849746942520142, 0.20742660760879517, 1.1427912712097168, 0.07129362970590591, 0.031599998474121094, -0.031599998474121094, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10297193378210068, 1.7473480701446533, -1.102478265762329, 0.02402038872241974, 0.8736652731895447, 0.21409021317958832, 0.0340999998152256, -0.0340999998152256, 0.3631666302680969, 2.1945948600769043, -1.8311315774917603, 0.19741374254226685, 1.1406980752944946, 0.04992472752928734, 0.026399999856948853, -0.026399999856948853, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10297193378210068, 1.6697571277618408, -1.1816216707229614, 0.02402038872241974, 0.8736652731895447, 0.21412509679794312, 0.01614999957382679, -0.01614999957382679, 0.3631666302680969, 2.098722457885742, -1.8743228912353516, 0.19521580636501312, 1.1177242994308472, 0.026706764474511147, 0.004000000189989805, -0.004000000189989805, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10077399015426636, 1.5690006017684937, -1.2575205564498901, 0.017914988100528717, 0.8571632504463196, 0.21210159361362457, 0.0, -0.0, 0.3631666302680969, 1.9783589839935303, -1.8947498798370361, 0.19521580636501312, 1.033469796180725, 0.0064193918369710445, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.07832355797290802, 1.5100747346878052, -1.2567529678344727, -0.04593005031347275, 0.7983246445655823, 0.21210159361362457, 0.0, -0.0, 0.3631666302680969, 1.9125776290893555, -1.8943660259246826, 0.19521580636501312, 0.9887259006500244, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.049087416380643845, 1.4355190992355347, -1.2120963335037231, -0.13545265793800354, 0.7311303615570068, 0.21693357825279236, 0.0, -0.0, 0.3631666302680969, 1.8351610898971558, -1.8596175909042358, 0.19521580636501312, 0.9549543261528015, -0.014984396286308765, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.043662331998348236, 1.3156788349151611, -1.113712191581726, -0.21243302524089813, 0.6537488102912903, 0.23327861726284027, 0.0, -0.0, 0.3631666302680969, 1.7137683629989624, -1.7221763134002686, 0.19338418543338776, 0.86961829662323, -0.028311612084507942, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.06710706651210785, 1.1022166013717651, -0.9396384954452515, -0.29066938161849976, 0.5565333962440491, 0.27519655227661133, 0.0, -0.0, 0.3631666302680969, 1.479966402053833, -1.4588416814804077, 0.1891278475522995, 0.6962772607803345, -0.05719887465238571, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.07820145040750504, 0.9349460601806641, -0.7800258994102478, -0.30558398365974426, 0.5045153498649597, 0.2832731306552887, 0.0, -0.0, 0.3631666302680969, 1.263730525970459, -1.196972370147705, 0.18741834163665771, 0.5583301186561584, -0.10189040750265121, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.07971908152103424, 0.7786129117012024, -0.6320484280586243, -0.3085494637489319, 0.4550092816352844, 0.2841627597808838, 0.0, -0.0, 0.3631666302680969, 1.0676599740982056, -0.9740031957626343, 0.18741834163665771, 0.4770061671733856, -0.1484135538339615, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.07971908152103424, 0.6391830444335938, -0.5013231039047241, -0.3125267028808594, 0.41410312056541443, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.8830327391624451, -0.7956382632255554, 0.17283515632152557, 0.4604169428348541, -0.17093375325202942, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.07971908152103424, 0.48755979537963867, -0.38174450397491455, -0.3125267028808594, 0.39737433195114136, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.6807869672775269, -0.6210761666297913, 0.16585755348205566, 0.4582189917564392, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.07971908152103424, 0.39915362000465393, -0.3350294530391693, -0.3125267028808594, 0.3883208930492401, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.5564287304878235, -0.5555739402770996, 0.16585755348205566, 0.4582189917564392, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.07971908152103424, 0.3263598084449768, -0.31577128171920776, -0.3125267028808594, 0.3789360225200653, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.45947495102882385, -0.5285881161689758, 0.16585755348205566, 0.4605913758277893, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.2558685839176178, -0.3138349950313568, -0.3125267028808594, 0.354828417301178, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.38969895243644714, -0.52373868227005, 0.16585755348205566, 0.4605913758277893, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.2236320823431015, -0.3130849003791809, -0.3125267028808594, 0.35264790058135986, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.3674229681491852, -0.52373868227005, 0.16585755348205566, 0.4621613323688507, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.2063101828098297, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.36520758271217346, -0.52373868227005, 0.16585755348205566, 0.4621613323688507, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.36440515518188477, -0.52373868227005, 0.16585755348205566, 0.4621613323688507, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.36440515518188477, -0.52373868227005, 0.16585755348205566, 0.4621613323688507, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.36440515518188477, -0.52373868227005, 0.16585755348205566, 0.4621613323688507, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.36440515518188477, -0.52373868227005, 0.16585755348205566, 0.4621613323688507, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.36440515518188477, -0.52373868227005, 0.16435736417770386, 0.4621613323688507, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.36440515518188477, -0.52373868227005, 0.16435736417770386, 0.4621613323688507, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.3631666302680969, 0.36440515518188477, -0.52373868227005, 0.16435736417770386, 0.4621613323688507, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.3525083661079407, 0.354758620262146, -0.52373868227005, 0.16435736417770386, 0.4627893269062042, -0.1733933538198471, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.2895006239414215, 0.31209060549736023, -0.52373868227005, 0.1482914388179779, 0.4627893269062042, -0.12072992324829102, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.19450059533119202, 0.2752663195133209, -0.5015149712562561, 0.07211349904537201, 0.4561257064342499, 0.007640472147613764, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2857676148414612, 0.0, -0.0, 0.10820513218641281, 0.24386711418628693, -0.4590737521648407, 0.026270663365721703, 0.4561257064342499, 0.05226222425699234, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.051913343369960785, 0.20915356278419495, -0.4151148796081543, -0.015560047701001167, 0.4561257064342499, 0.055751025676727295, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.018106872215867043, 0.16995689272880554, -0.3822503685951233, -0.029602468013763428, 0.4561257064342499, 0.055751025676727295, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.003035255940631032, 0.13623763620853424, -0.362416535615921, -0.03352736681699753, 0.4561257064342499, 0.04669758677482605, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.017618440091609955, 0.11160670965909958, -0.35039761662483215, -0.03616141155362129, 0.45389288663864136, 0.0314166434109211, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.023968055844306946, 0.09386616200208664, -0.34812989830970764, -0.03694639354944229, 0.45174726843833923, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.08568492531776428, -0.34812989830970764, -0.03694639354944229, 0.4502122104167938, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.0816204771399498, -0.3248421549797058, -0.03694639354944229, 0.411346971988678, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.06075745075941086, -0.2408667504787445, -0.03162597119808197, 0.2925358712673187, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.032916828989982605, -0.12313719838857651, -0.027020756155252457, 0.16857881844043732, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.010536176152527332, -0.037539489567279816, -0.02267719991505146, 0.09909936040639877, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.006820604205131531, -0.007274148054420948, -0.02267719991505146, 0.07814911752939224, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.06339149922132492, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.025991560891270638, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.021543340757489204, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.011617704294621944, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, -0.00266893208026886, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.005861184094101191, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.0612284392118454, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.076893150806427, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11117061227560043, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11804354935884476, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08031217753887177, 0.20191429555416107, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.07349157333374023, 0.19331440329551697, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.026235776022076607, 0.19331440329551697, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.032916828989982605, 0.19331440329551697, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.07807934284210205, 0.19331440329551697, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.10487332940101624, 0.19331440329551697, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, -0.3125267028808594, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, -0.303037166595459, 0.34872299432754517, 0.2864653766155243, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, -0.21925362944602966, 0.34872299432754517, 0.22975492477416992, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, -0.10307659953832626, 0.34872299432754517, 0.08097504824399948, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, -0.023340072482824326, 0.34872299432754517, -0.024997251108288765, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, 0.0, 0.34872299432754517, -0.051512133330106735, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, 0.037801146507263184, 0.34872299432754517, -0.051512133330106735, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, 0.05828040465712547, 0.34872299432754517, -0.051512133330106735, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, 0.060460902750492096, 0.34872299432754517, -0.04966306686401367, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, 0.062432076781988144, 0.34872299432754517, -0.03649284690618515, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, 0.062432076781988144, 0.34872299432754517, -0.015385608188807964, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, 0.062432076781988144, 0.34872299432754517, -0.011164160445332527, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, 0.062432076781988144, 0.34872299432754517, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1067398339509964, 0.19331440329551697, -0.3130849003791809, 0.057861749082803726, 0.34872299432754517, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.10253582894802094, 0.19331440329551697, -0.3130849003791809, 0.03537643328309059, 0.34872299432754517, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.061961088329553604, 0.16852648556232452, -0.28431975841522217, 0.016275251284241676, 0.3226616680622101, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0051634241826832294, 0.10762947797775269, -0.20932799577713013, 0.007134595885872841, 0.2653057873249054, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.03947577252984047, 0.04064451903104782, -0.11425819993019104, 0.0, 0.19432616233825684, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05076203867793083, 0.010832724161446095, -0.024840256199240685, 0.0, 0.10813535749912262, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.11987517029047012, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05076203867793083, 0.006454280111938715, -0.004430775996297598, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05076203867793083, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05076203867793083, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05076203867793083, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05076203867793083, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05076203867793083, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.05076203867793083, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.04826754704117775, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.031032875180244446, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.012367796152830124, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.004326112102717161, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01133859995752573, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.005285532213747501, 0.08704555779695511, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.013327215798199177, 0.0933602899312973, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.016519468277692795, 0.127184197306633, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.016519468277692795, 0.14000554382801056, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.016519468277692795, 0.14000554382801056, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.016519468277692795, 0.14000554382801056, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.14000554382801056, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, -0.005390196107327938, 0.14000554382801056, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, -0.005390196107327938, 0.14000554382801056, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.13799948990345, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.13084743916988373, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12380006909370422, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12380006909370422, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12313719838857651, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.013117888011038303, 0.004029564093798399, -0.0047796559520065784, 0.0, 0.12146256864070892, -0.009035992436110973, 0.0, -0.0, 0.00866966787725687, 0.006820604205131531, -0.003453911980614066, -0.02267719991505146, 0.12181144952774048, 0.028137171640992165, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-aloha/000043/meta.json b/rc-table30-v2__rc-aloha/000043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5584b21182cddd714468aa2f0e64986d918e678
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000043/meta.json
@@ -0,0 +1,133 @@
+{
+ "format_version": 8,
+ "prompt": "Place the books back onto the bookshelf.",
+ "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "site",
+ "object_name": "gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ },
+ {
+ "object_type": "site",
+ "object_name": "fr_gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "fl_base_link",
+ "fl_link1",
+ "fl_link2",
+ "fl_link3",
+ "fl_link4",
+ "fl_link5",
+ "fl_link6",
+ "fl_link7",
+ "fl_link8"
+ ],
+ [
+ "fr_base_link",
+ "fr_link1",
+ "fr_link2",
+ "fr_link3",
+ "fr_link4",
+ "fr_link5",
+ "fr_link6",
+ "fr_link7",
+ "fr_link8"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "gripper_center",
+ "finger_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "fr_gripper_center",
+ "finger_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-aloha",
+ "source_repo_id": "rc-table30-v2/rc-aloha",
+ "episode_index": 3056,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "ALOHA"
+ }
+}
diff --git a/rc-table30-v2__rc-aloha/000045/meta.json b/rc-table30-v2__rc-aloha/000045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..18be3e92458983572cc3bac7d363ed7de5316b5a
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000045/meta.json
@@ -0,0 +1,133 @@
+{
+ "format_version": 8,
+ "prompt": "Scoop beans and place them into the empty bowl.",
+ "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "site",
+ "object_name": "gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ },
+ {
+ "object_type": "site",
+ "object_name": "fr_gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "fl_base_link",
+ "fl_link1",
+ "fl_link2",
+ "fl_link3",
+ "fl_link4",
+ "fl_link5",
+ "fl_link6",
+ "fl_link7",
+ "fl_link8"
+ ],
+ [
+ "fr_base_link",
+ "fr_link1",
+ "fr_link2",
+ "fr_link3",
+ "fr_link4",
+ "fr_link5",
+ "fr_link6",
+ "fr_link7",
+ "fr_link8"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "gripper_center",
+ "finger_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "fr_gripper_center",
+ "finger_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-aloha",
+ "source_repo_id": "rc-table30-v2/rc-aloha",
+ "episode_index": 4345,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "ALOHA"
+ }
+}
diff --git a/rc-table30-v2__rc-aloha/000045/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v2__rc-aloha/000045/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8d54d33cb8b456529b7f2b8284c76fccf4ef9269
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000045/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
@@ -0,0 +1,308 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-aloha/000045/temporal.json b/rc-table30-v2__rc-aloha/000045/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..be83d0e6731b5d4c2f5fc30c916fc7fba078ca5b
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000045/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, -0.005459972191601992, 0.11017630249261856, 0.052297111600637436, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.0, 0.11017630249261856, 0.052297111600637436, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.0, 0.11017630249261856, 0.052297111600637436, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, -0.005459972191601992, 0.11017630249261856, 0.052297111600637436, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, -0.005459972191601992, 0.11017630249261856, 0.052297111600637436, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, -0.005459972191601992, 0.11017630249261856, 0.052297111600637436, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.0, 0.11017630249261856, 0.052297111600637436, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, -0.005459972191601992, 0.11017630249261856, 0.052297111600637436, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, -0.005459972191601992, 0.11017630249261856, 0.052297111600637436, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, -0.005459972191601992, 0.11017630249261856, 0.052297111600637436, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, -0.005459972191601992, 0.11017630249261856, 0.05070970952510834, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, -0.005459972191601992, 0.11017630249261856, 0.04835476726293564, 0.003650000086054206, -0.003650000086054206, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, -0.005459972191601992, 0.11017630249261856, 0.04835476726293564, 0.018149999901652336, -0.018149999901652336, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.0, 0.11017630249261856, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.04969795420765877, 0.11017630249261856, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.084795281291008, 0.11017630249261856, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.09547100961208344, 0.11017630249261856, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.09711074829101562, 0.11017630249261856, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.09981457144021988, 0.11017630249261856, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.10215206444263458, 0.11017630249261856, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.10215206444263458, 0.11017630249261856, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.10215206444263458, 0.11017630249261856, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.10215206444263458, 0.11017630249261856, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.10215206444263458, 0.11017630249261856, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, 0.0, 0.10384412854909897, 0.07626517117023468, 0.04835476726293564, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.10384412854909897, 0.0, 0.05037827044725418, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.10384412854909897, -0.058978162705898285, 0.05037827044725418, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.006907823961228132, -0.001849064021371305, 0.11239169538021088, -0.12189867347478867, 0.04811055213212967, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.005547191947698593, -0.007117152214050293, 0.11239169538021088, -0.21524152159690857, -0.065885990858078, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.005547191947698593, -0.09001103788614273, 0.11239169538021088, -0.09330795705318451, -0.16276995837688446, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.02534613199532032, -0.22965025901794434, 0.108274906873703, 0.13299305737018585, -0.18562160432338715, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.09840160608291626, -0.3792151212692261, 0.09861093014478683, 0.3476065993309021, -0.10628629475831985, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.197867289185524, -0.4999799132347107, 0.026549767702817917, 0.5192729830741882, 0.01695556752383709, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.3030546009540558, -0.5963405966758728, -0.09520935267210007, 0.6821476221084595, 0.1647585779428482, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.42720356583595276, -0.6682971119880676, -0.18469707667827606, 0.8536744713783264, 0.25091448426246643, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.5708723664283752, -0.6941840052604675, -0.23425547778606415, 0.9842079281806946, 0.2725101709365845, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.6895439028739929, -0.6962249279022217, -0.3076772689819336, 1.0222358703613281, 0.2780224680900574, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.7903004288673401, -0.6962249279022217, -0.41248083114624023, 1.028323769569397, 0.28056928515434265, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.8645769953727722, -0.6962249279022217, -0.48677483201026917, 1.028323769569397, 0.2895529568195343, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.9257879853248596, -0.6962249279022217, -0.517877459526062, 1.028323769569397, 0.3248072862625122, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 0.9825682044029236, -0.6975681185722351, -0.5225873589515686, 1.0444769859313965, 0.40614864230155945, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 1.0220613479614258, -0.6975681185722351, -0.5446540117263794, 1.060002088546753, 0.44532787799835205, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 1.0406392812728882, -0.6975681185722351, -0.5514920353889465, 1.0570889711380005, 0.46038204431533813, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 1.05508291721344, -0.6975681185722351, -0.5514920353889465, 1.0237185955047607, 0.46038204431533813, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 1.0847376585006714, -0.6975681185722351, -0.5493987798690796, 0.9745265245437622, 0.4623880982398987, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 1.1358311176300049, -0.7002370357513428, -0.5399790406227112, 0.9182870388031006, 0.4623880982398987, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.047848891466856, 1.2070026397705078, -0.7247458696365356, -0.5209999680519104, 0.8966390490531921, 0.4623880982398987, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.06103655695915222, 1.2736562490463257, -0.7605060935020447, -0.4918510317802429, 0.8904987573623657, 0.4623880982398987, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.12311974912881851, 1.3340822458267212, -0.8100818991661072, -0.40782326459884644, 0.8693042993545532, 0.4082942605018616, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.20201896131038666, 1.3936883211135864, -0.8569539189338684, -0.29797840118408203, 0.8671935796737671, 0.2942279577255249, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.266631543636322, 1.4528758525848389, -0.8890334367752075, -0.20437391102313995, 0.8671935796737671, 0.18092916905879974, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.318614661693573, 1.506446361541748, -0.9062855839729309, -0.1577112078666687, 0.8671935796737671, 0.12455015629529953, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.35974761843681335, 1.5569642782211304, -0.9150075912475586, -0.14773324131965637, 0.8469585180282593, 0.09541867673397064, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3845878541469574, 1.6070634126663208, -0.9150075912475586, -0.1420115977525711, 0.829863429069519, 0.07877710461616516, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.6473240852355957, -0.9150075912475586, -0.1366039663553238, 0.8278573751449585, 0.06958411633968353, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.673647165298462, -0.9150075912475586, -0.12777729332447052, 0.8221880793571472, 0.06696751713752747, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.6921900510787964, -0.9150075912475586, -0.12503859400749207, 0.8182282447814941, 0.06696751713752747, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.698958396911621, -0.9150075912475586, -0.12503859400749207, 0.8137451410293579, 0.06696751713752747, 0.04, -0.04, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.70099937915802, -0.9150075912475586, -0.12503859400749207, 0.7969117164611816, 0.06696751713752747, 0.034299999475479126, -0.034299999475479126, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.70099937915802, -0.9150075912475586, -0.12503859400749207, 0.7838112711906433, 0.06471724063158035, 0.0243500005453825, -0.0243500005453825, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.70099937915802, -0.9150075912475586, -0.12503859400749207, 0.7933705449104309, 0.07473009824752808, 0.019999999552965164, -0.019999999552965164, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.70099937915802, -0.9150075912475586, -0.12503859400749207, 0.8042730689048767, 0.08599892258644104, 0.0203000009059906, -0.0203000009059906, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.70099937915802, -0.9150075912475586, -0.12503859400749207, 0.8061221241950989, 0.09316840767860413, 0.0203000009059906, -0.0203000009059906, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.70099937915802, -0.9150075912475586, -0.12503859400749207, 0.8061221241950989, 0.09599433094263077, 0.0203000009059906, -0.0203000009059906, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.70099937915802, -0.9150075912475586, -0.13145798444747925, 0.8041858673095703, 0.09599433094263077, 0.0203000009059906, -0.0203000009059906, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.70099937915802, -0.9150075912475586, -0.13547010719776154, 0.8027205467224121, 0.09599433094263077, 0.0203000009059906, -0.0203000009059906, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3916875720024109, 1.70099937915802, -0.9150075912475586, -0.15256522595882416, 0.80027836561203, 0.09599433094263077, 0.0203000009059906, -0.0203000009059906, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3925074338912964, 1.7029531002044678, -0.9150075912475586, -0.1568738967180252, 0.7958650588989258, 0.09599433094263077, 0.0203000009059906, -0.0203000009059906, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.394059956073761, 1.7156000137329102, -0.9173450469970703, -0.15905439853668213, 0.791207492351532, 0.09599433094263077, 0.02005000039935112, -0.02005000039935112, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.394059956073761, 1.7268339395523071, -0.9188801646232605, -0.15905439853668213, 0.7886257767677307, 0.09599433094263077, 0.019999999552965164, -0.019999999552965164, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.394059956073761, 1.7310901880264282, -0.9196127653121948, -0.15905439853668213, 0.7886257767677307, 0.09833183139562607, 0.019750000908970833, -0.019750000908970833, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.394059956073761, 1.7310901880264282, -0.9196127653121948, -0.15905439853668213, 0.7867767214775085, 0.09983201324939728, 0.01640000008046627, -0.01640000008046627, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.394059956073761, 1.7310901880264282, -0.9196127653121948, -0.15905439853668213, 0.7792583703994751, 0.09983201324939728, 0.00930000003427267, -0.00930000003427267, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.394059956073761, 1.7310901880264282, -0.9196127653121948, -0.16154888272285461, 0.7795723676681519, 0.09983201324939728, 0.0008500000112690032, -0.0008500000112690032, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1686834841966629, 0.7735542058944702, 0.10293704271316528, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7735542058944702, 0.10761203616857529, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7711818218231201, 0.10930410027503967, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.10961809754371643, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.10961809754371643, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7689141035079956, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.0034000000450760126, -0.0034000000450760126, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7668033242225647, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.055594027042388916, 0.047430235892534256, 0.0, 0.01549999974668026, -0.01549999974668026, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7647275328636169, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.0596410371363163, 0.047430235892534256, 0.0, 0.036249998956918716, -0.036249998956918716, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7628610134124756, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.04106317460536957, 0.047430235892534256, -0.018420863896608353, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7628610134124756, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, -0.020618807524442673, 0.0478837788105011, -0.04385421425104141, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7628610134124756, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, -0.0352892130613327, 0.0478837788105011, -0.04966306686401367, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7628610134124756, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, -0.03694639354944229, 0.035114772617816925, -0.04966306686401367, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7628610134124756, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, -0.03916177898645401, 0.017321892082691193, -0.04966306686401367, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7628610134124756, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.0, 0.012716676108539104, -0.04966306686401367, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7628610134124756, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.08289388567209244, 0.010972276329994202, -0.04966306686401367, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7628610134124756, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.1374063938856125, 0.010972276329994202, -0.04966306686401367, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7628610134124756, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.16913703083992004, 0.010972276329994202, -0.04966306686401367, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7628610134124756, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.17702171206474304, 0.010640840046107769, -0.04966306686401367, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.006733383983373642, -0.005076203960925341, 0.1782079041004181, -0.022101547569036484, -0.04966306686401367, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.005198311991989613, -0.037068501114845276, 0.1796731948852539, 0.012978335842490196, -0.04320878908038139, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.005198311991989613, -0.15650756657123566, 0.15565280616283417, 0.1302892416715622, -0.04320878908038139, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.0627984032034874, -0.2865177094936371, 0.14733202755451202, 0.27814456820487976, -0.03781859204173088, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.164793461561203, -0.39498448371887207, 0.1436513364315033, 0.4373210668563843, 0.021002575755119324, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.294925719499588, -0.4833034574985504, 0.19997800886631012, 0.5750763416290283, 0.0690782368183136, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.03801047429442406, 0.44449055194854736, -0.5496779084205627, 0.3235512971878052, 0.6808218955993652, 0.04371466487646103, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.06911312788724899, 0.6022540926933289, -0.5778499245643616, 0.5184182524681091, 0.7387883067131042, -0.06548477709293365, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.10461166501045227, 0.7056621313095093, -0.5796292424201965, 0.6558071970939636, 0.7589884400367737, -0.12371284514665604, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.12997524440288544, 0.8118612170219421, -0.5817050933837891, 0.8029647469520569, 0.7843694686889648, -0.19641943275928497, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.14576207101345062, 0.9249681234359741, -0.5817050933837891, 0.9430052042007446, 0.8281015753746033, -0.30943912267684937, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.14797745645046234, 1.0290913581848145, -0.5817050933837891, 1.0980125665664673, 0.8900975584983826, -0.4519391655921936, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.14797745645046234, 1.112334132194519, -0.5817050933837891, 1.2369017601013184, 0.9501746892929077, -0.5907933712005615, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.14939041435718536, 1.181865930557251, -0.5817050933837891, 1.3342392444610596, 0.9948487877845764, -0.6890903115272522, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.18087683618068695, 1.2433385848999023, -0.5817050933837891, 1.3682724237442017, 1.0022101402282715, -0.7388580441474915, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.2478966861963272, 1.2942227125167847, -0.5833273530006409, 1.3879841566085815, 0.9931566715240479, -0.7515398263931274, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.3187367618083954, 1.3265115022659302, -0.5833273530006409, 1.402235984802246, 0.9434064030647278, -0.7552728652954102, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.385913610458374, 1.344461441040039, -0.5833273530006409, 1.4108706712722778, 0.8671587109565735, -0.7571393847465515, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.4576956629753113, 1.3489793539047241, -0.5833273530006409, 1.43468177318573, 0.7864976525306702, -0.7593547701835632, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.5271227955818176, 1.3489793539047241, -0.5833273530006409, 1.4727271795272827, 0.7161808609962463, -0.7593547701835632, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.5914736986160278, 1.3568814992904663, -0.5833273530006409, 1.5167208909988403, 0.6748734712600708, -0.7593547701835632, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7623900175094604, 0.11151949316263199, 0.0, -0.0, 0.6215646266937256, 1.3930081129074097, -0.5833273530006409, 1.5593366622924805, 0.6953004002571106, -0.7606630921363831, 0.03844999894499779, -0.03844999894499779, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.6282107830047607, 1.4570449590682983, -0.5833273530006409, 1.6202161312103271, 0.7805143594741821, -0.8061919212341309, 0.032349999994039536, -0.032349999994039536, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.6302866339683533, 1.5223727226257324, -0.5833273530006409, 1.686869740486145, 0.8710486888885498, -0.8696531653404236, 0.03454999998211861, -0.03454999998211861, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.6566619277000427, 1.5739197731018066, -0.5833273530006409, 1.7253336906433105, 0.8969704508781433, -0.898069441318512, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.7051562666893005, 1.627577543258667, -0.5853683352470398, 1.732154369354248, 0.9039480686187744, -0.9156181216239929, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.7580813765525818, 1.671466588973999, -0.613959014415741, 1.732154369354248, 0.8972844481468201, -0.9191243648529053, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.7996504306793213, 1.709930658340454, -0.6675121188163757, 1.732154369354248, 0.8700194954872131, -0.9168741106987, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.832951009273529, 1.7476445436477661, -0.7257401943206787, 1.7370386123657227, 0.8462258577346802, -0.8722000122070312, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.771036982536316, -0.7359623312950134, 1.740754246711731, 0.8342592716217041, -0.8391436338424683, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.7947957515716553, -0.7377416491508484, 1.740754246711731, 0.8081979751586914, -0.814739465713501, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.8070588111877441, -0.7377416491508484, 1.740754246711731, 0.7747054696083069, -0.8081979751586914, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.8136526346206665, -0.7377416491508484, 1.740754246711731, 0.7337295413017273, -0.8081979751586914, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7605584263801575, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.8201069831848145, -0.7377416491508484, 1.740754246711731, 0.7089590430259705, -0.8081979751586914, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.8320735692977905, -0.7393988370895386, 1.740754246711731, 0.6955446004867554, -0.8105180263519287, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.853128433227539, -0.7437249422073364, 1.7423590421676636, 0.691776692867279, -0.8105180263519287, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.8801840543746948, -0.7686349749565125, 1.7423590421676636, 0.6958585977554321, -0.8105180263519287, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.8964593410491943, -0.8063837885856628, 1.7423590421676636, 0.702696681022644, -0.8105180263519287, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.905495285987854, -0.834852397441864, 1.7423590421676636, 0.7034816145896912, -0.8105180263519287, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.91484534740448, -0.8391785025596619, 1.7423590421676636, 0.7077030539512634, -0.7998597025871277, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.9304577112197876, -0.839649498462677, 1.7423590421676636, 0.7148028016090393, -0.7905271649360657, 0.035599999129772186, -0.035599999129772186, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.9378888607025146, -0.839649498462677, 1.7423590421676636, 0.7215710878372192, -0.7864627242088318, 0.031700000166893005, -0.031700000166893005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.9395809173583984, -0.839649498462677, 1.7423590421676636, 0.7256529331207275, -0.7864627242088318, 0.022849999368190765, -0.022849999368190765, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.9395809173583984, -0.839649498462677, 1.7423590421676636, 0.7256529331207275, -0.7864627242088318, 0.01614999957382679, -0.01614999957382679, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.9395809173583984, -0.839649498462677, 1.7423590421676636, 0.7300313711166382, -0.7883641123771667, 0.012600000016391277, -0.012600000016391277, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.9399821758270264, -0.839649498462677, 1.7423590421676636, 0.7437772750854492, -0.7899689674377441, 0.01119999960064888, -0.01119999960064888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8370852470397949, 1.9418835639953613, -0.839649498462677, 1.7423590421676636, 0.7749497294425964, -0.8033834099769592, 0.01119999960064888, -0.01119999960064888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.171055868268013, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.828223705291748, 1.9393715858459473, -0.839649498462677, 1.7423590421676636, 0.7963360548019409, -0.8079188466072083, 0.010850000195205212, -0.010850000195205212, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.16917191445827484, 0.7584302425384521, 0.11151949316263199, 0.0, -0.0, 0.8120530843734741, 1.9160664081573486, -0.839649498462677, 1.738242268562317, 0.8004702925682068, -0.8104308247566223, 0.007350000087171793, -0.007350000087171793, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.16917191445827484, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.7970337867736816, 1.8893072605133057, -0.839649498462677, 1.7170827388763428, 0.8004702925682068, -0.8112157583236694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.16917191445827484, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.7923239469528198, 1.8649903535842896, -0.839649498462677, 1.6900968551635742, 0.8004702925682068, -0.8112157583236694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.16917191445827484, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.7883292436599731, 1.8469882011413574, -0.839649498462677, 1.6398407220840454, 0.8041160702705383, -0.8112157583236694, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.16917191445827484, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.764134407043457, 1.8429585695266724, -0.8413938879966736, 1.5880144834518433, 0.8323404788970947, -0.7922192811965942, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.7268217206001282, 1.8429585695266724, -0.850429892539978, 1.5080512762069702, 0.8626232147216797, -0.7543658018112183, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.7033595442771912, 1.8429585695266724, -0.8901672959327698, 1.385245442390442, 0.8968832492828369, -0.690730094909668, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.7013360261917114, 1.8429585695266724, -0.9806318879127502, 1.1968153715133667, 0.9394814968109131, -0.5995328426361084, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.7006208300590515, 1.8429585695266724, -1.0610661506652832, 1.0485588312149048, 0.9805098176002502, -0.5189066529273987, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.7006208300590515, 1.8429585695266724, -1.119765281677246, 0.9422550797462463, 1.005977988243103, -0.46408018469810486, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.7006208300590515, 1.844842553138733, -1.1745742559432983, 0.8557851910591125, 1.0330860614776611, -0.4284246265888214, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.7298395037651062, 1.8817366361618042, -1.2196147441864014, 0.7844043374061584, 1.0686542987823486, -0.39899662137031555, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7543483376502991, 0.11151949316263199, 0.0, -0.0, 0.7600001692771912, 1.8980293273925781, -1.263748049736023, 0.7127967476844788, 1.078143835067749, -0.3665507733821869, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.7866197228431702, 1.9084956645965576, -1.286686897277832, 0.6345952749252319, 1.078143835067749, -0.32466772198677063, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.790753960609436, 1.9271782636642456, -1.286686897277832, 0.5950671434402466, 1.078143835067749, -0.30661317706108093, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.790753960609436, 1.9280503988265991, -1.2999792098999023, 0.5687267184257507, 1.0722129344940186, -0.2950652539730072, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.790753960609436, 1.9280503988265991, -1.328081488609314, 0.5509687662124634, 1.0645898580551147, -0.28749457001686096, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.7957952618598938, 1.9298994541168213, -1.332738995552063, 0.53680419921875, 1.0629850625991821, -0.28529661893844604, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.8089306354522705, 1.9421800374984741, -1.332738995552063, 0.5257272720336914, 1.0629850625991821, -0.2802727520465851, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.8296191692352295, 1.9610719680786133, -1.3333669900894165, 0.519517183303833, 1.0629850625991821, -0.27648741006851196, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.8455629944801331, 1.9712941646575928, -1.3464674949645996, 0.5147375464439392, 1.07585871219635, -0.2739754617214203, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.850813627243042, 1.9870285987854004, -1.3779189586639404, 0.5147375464439392, 1.094454050064087, -0.2661082148551941, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.850813627243042, 1.9986114501953125, -1.3892924785614014, 0.5284834504127502, 1.11172354221344, -0.2644161581993103, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.850813627243042, 2.015357732772827, -1.3892924785614014, 0.5497302412986755, 1.1302491426467896, -0.2638404965400696, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.850813627243042, 2.032592296600342, -1.3892924785614014, 0.5863451957702637, 1.144867181777954, -0.26957958936691284, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.850813627243042, 2.0377209186553955, -1.3892924785614014, 0.6147440075874329, 1.1445531845092773, -0.2803076505661011, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.8486855030059814, 2.0377209186553955, -1.3892924785614014, 0.6314204931259155, 1.1486525535583496, -0.2863781452178955, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.8358641266822815, 2.0377209186553955, -1.3892924785614014, 0.6712102293968201, 1.1622065305709839, -0.30898556113243103, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7523074150085449, 0.11151949316263199, 0.0, -0.0, 0.8080061078071594, 2.0419771671295166, -1.3892924785614014, 0.7279729843139648, 1.174644112586975, -0.35034528374671936, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.7843520045280457, 2.0480477809906006, -1.3892924785614014, 0.7749671339988708, 1.1859303712844849, -0.3807153105735779, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.7646054029464722, 2.049233913421631, -1.3892924785614014, 0.7954987287521362, 1.1978271007537842, -0.39838606119155884, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.7420154213905334, 2.049233913421631, -1.384198784828186, 0.8410624861717224, 1.2053978443145752, -0.4269767999649048, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.7201929688453674, 2.049233913421631, -1.359236478805542, 0.9041050672531128, 1.2075783014297485, -0.474075585603714, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.7049120664596558, 2.049233913421631, -1.3370826244354248, 0.9415922164916992, 1.2092703580856323, -0.5062423348426819, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6922476887702942, 2.049233913421631, -1.32794189453125, 0.9665022492408752, 1.2112066745758057, -0.5249074101448059, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6763736605644226, 2.049233913421631, -1.32794189453125, 1.0181015729904175, 1.2112066745758057, -0.5515443682670593, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6633080840110779, 2.0376336574554443, -1.3202840089797974, 1.0387203693389893, 1.2112066745758057, -0.5603885054588318, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6565223932266235, 2.0084846019744873, -1.297048568725586, 1.040290355682373, 1.2112066745758057, -0.5621503591537476, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6546558737754822, 1.979824185371399, -1.2737433910369873, 1.040290355682373, 1.2112066745758057, -0.5621503591537476, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6546558737754822, 1.9665493965148926, -1.2478216886520386, 1.040290355682373, 1.2112066745758057, -0.5648541450500488, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6546558737754822, 1.956972599029541, -1.223382592201233, 1.040290355682373, 1.2112066745758057, -0.5659705996513367, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6546558737754822, 1.9414997100830078, -1.1912332773208618, 1.0384238958358765, 1.2112066745758057, -0.5764195322990417, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6546558737754822, 1.9230091571807861, -1.1614912748336792, 1.040813684463501, 1.2112066745758057, -0.5897641777992249, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6546558737754822, 1.9106413125991821, -1.1314003467559814, 1.0633862018585205, 1.2112066745758057, -0.6128251552581787, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6428462862968445, 1.9011691808700562, -1.1048506498336792, 1.10162353515625, 1.2112066745758057, -0.6355546712875366, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6135578155517578, 1.8924472332000732, -1.0809524059295654, 1.1159449815750122, 1.213003396987915, -0.6489167809486389, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.5755298733711243, 1.8781431913375854, -1.0524488687515259, 1.122695803642273, 1.213003396987915, -0.6667969226837158, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.5348330140113831, 1.8623039722442627, -1.0288646221160889, 1.136040449142456, 1.213003396987915, -0.6877820491790771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.5089461207389832, 1.8484359979629517, -1.0139150619506836, 1.1548974514007568, 1.213003396987915, -0.7055225968360901, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.4960550367832184, 1.8463078737258911, -1.0025415420532227, 1.1684340238571167, 1.213003396987915, -0.7246237397193909, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.49399664998054504, 1.8463078737258911, -0.9894760251045227, 1.187046766281128, 1.213003396987915, -0.7444924712181091, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.49169403314590454, 1.8463078737258911, -0.9798120260238647, 1.2136489152908325, 1.213003396987915, -0.7680593132972717, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.4921301305294037, 1.8463078737258911, -0.9755731225013733, 1.2335001230239868, 1.213003396987915, -0.7865325212478638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.4921301305294037, 1.8463078737258911, -0.9755731225013733, 1.24933922290802, 1.213003396987915, -0.7951847314834595, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.480093777179718, 1.8463078737258911, -0.971683144569397, 1.263730525970459, 1.213003396987915, -0.8016215562820435, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.44621750712394714, 1.8463078737258911, -0.971613347530365, 1.2750517129898071, 1.213003396987915, -0.8056685924530029, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.4081547260284424, 1.8463078737258911, -0.971613347530365, 1.276743769645691, 1.213003396987915, -0.8078665137290955, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.37399935722351074, 1.8463078737258911, -0.971613347530365, 1.276743769645691, 1.213003396987915, -0.8148964643478394, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.3431583642959595, 1.8463078737258911, -0.971613347530365, 1.2786974906921387, 1.213003396987915, -0.8237580060958862, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.3089506924152374, 1.8463078737258911, -0.971613347530365, 1.2786974906921387, 1.213003396987915, -0.8264269232749939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.2714635133743286, 1.8463078737258911, -0.971613347530365, 1.2786974906921387, 1.213003396987915, -0.8307704925537109, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.2337670475244522, 1.8463078737258911, -0.971613347530365, 1.2786974906921387, 1.213003396987915, -0.8307704925537109, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.2033098191022873, 1.8347424268722534, -0.971613347530365, 1.2786974906921387, 1.213003396987915, -0.8366142511367798, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.16915446519851685, 1.8099371194839478, -0.971613347530365, 1.2786974906921387, 1.213003396987915, -0.8425277471542358, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.12120091170072556, 1.7832129001617432, -0.9692234992980957, 1.2786974906921387, 1.213003396987915, -0.8425277471542358, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.07211349904537201, 1.7565584182739258, -0.9422550797462463, 1.2825875282287598, 1.213003396987915, -0.8522440791130066, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.0227469764649868, 1.7360618114471436, -0.8996394276618958, 1.2825875282287598, 1.213003396987915, -0.8688158392906189, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, -0.029305920004844666, 1.7159138917922974, -0.8486505746841431, 1.2825875282287598, 1.213003396987915, -0.8897137641906738, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, -0.08106226474046707, 1.6958707571029663, -0.7975919842720032, 1.2825875282287598, 1.213003396987915, -0.9138213992118835, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, -0.14108707010746002, 1.6778336763381958, -0.7422596216201782, 1.2825875282287598, 1.213003396987915, -0.9296954274177551, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, -0.19968146085739136, 1.6687278747558594, -0.70623779296875, 1.2825875282287598, 1.213003396987915, -0.9343529939651489, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, -0.21438676118850708, 1.6670533418655396, -0.7022256851196289, 1.2807035446166992, 1.207735300064087, -0.9360450506210327, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, -0.1867031306028366, 1.665047287940979, -0.7227223515510559, 1.2346514463424683, 1.207735300064087, -0.9208512902259827, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, -0.12184634059667587, 1.665047287940979, -0.7628086805343628, 1.140366554260254, 1.1980539560317993, -0.8684844374656677, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, -0.04828499257564545, 1.665047287940979, -0.8141812682151794, 1.0405869483947754, 1.157391905784607, -0.7887827754020691, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, -0.0019362840102985501, 1.665047287940979, -0.8666179180145264, 0.9260147213935852, 1.0998268127441406, -0.6786239147186279, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.024508820846676826, 1.665047287940979, -0.9140655994415283, 0.8146173357963562, 1.0597578287124634, -0.59011310338974, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.05737331509590149, 1.665047287940979, -0.9551636576652527, 0.703533947467804, 1.0320394039154053, -0.5247852802276611, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.10604207962751389, 1.665047287940979, -0.9933311343193054, 0.5803619027137756, 1.0114206075668335, -0.46032971143722534, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.15964749455451965, 1.665047287940979, -1.0233871936798096, 0.4511890709400177, 0.9988783001899719, -0.39838606119155884, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.20182707905769348, 1.6628319025039673, -1.0343942642211914, 0.36145710945129395, 0.9986690282821655, -0.3619281053543091, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.2219923436641693, 1.6605466604232788, -1.036400318145752, 0.3215627074241638, 0.9986690282821655, -0.35186293721199036, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.22900483012199402, 1.6589418649673462, -1.036400318145752, 0.2989901602268219, 0.9986690282821655, -0.34026265144348145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.22959792613983154, 1.6589418649673462, -1.036400318145752, 0.2709227502346039, 0.9968373775482178, -0.3255922496318817, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.22959792613983154, 1.6589418649673462, -1.036400318145752, 0.2638404965400696, 0.996785044670105, -0.32131847739219666, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.22959792613983154, 1.6589418649673462, -1.036400318145752, 0.2638404965400696, 0.996785044670105, -0.3153002858161926, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.22959792613983154, 1.6589418649673462, -1.036400318145752, 0.2904949188232422, 0.996785044670105, -0.3027580678462982, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.22959792613983154, 1.6589418649673462, -1.036400318145752, 0.41623127460479736, 1.0045825242996216, -0.3538166582584381, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.22959792613983154, 1.6589418649673462, -1.036400318145752, 0.6018877625465393, 1.0422964096069336, -0.46891215443611145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.22959792613983154, 1.6589418649673462, -1.036400318145752, 0.7857823967933655, 1.0945587158203125, -0.5598128437995911, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.22959792613983154, 1.6589418649673462, -1.036400318145752, 0.9515527486801147, 1.160025954246521, -0.6267454624176025, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.23125511407852173, 1.66075599193573, -1.036400318145752, 1.0733119249343872, 1.2017346620559692, -0.6729022860527039, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.2517867088317871, 1.6791419982910156, -1.036400318145752, 1.1305805444717407, 1.2058165073394775, -0.6901021003723145, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.3050781190395355, 1.7108726501464844, -1.036400318145752, 1.1417795419692993, 1.2058165073394775, -0.6926838159561157, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.3750808835029602, 1.7450628280639648, -1.036400318145752, 1.151705265045166, 1.2058165073394775, -0.6941142082214355, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.4298724830150604, 1.7837188243865967, -1.036400318145752, 1.1796505451202393, 1.2097413539886475, -0.6941142082214355, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.47604677081108093, 1.8185369968414307, -1.036400318145752, 1.2056944370269775, 1.2097413539886475, -0.6941142082214355, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.5178425908088684, 1.849465250968933, -1.036400318145752, 1.213910460472107, 1.2097413539886475, -0.6941142082214355, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.5532364845275879, 1.8795909881591797, -1.036400318145752, 1.2175737619400024, 1.2097413539886475, -0.6941142082214355, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.5848798751831055, 1.9042394161224365, -1.0378482341766357, 1.2190914154052734, 1.2097413539886475, -0.698736846446991, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6044869422912598, 1.9276666641235352, -1.040168285369873, 1.233447790145874, 1.2097413539886475, -0.7006208300590515, 0.0001500000071246177, -0.0001500000071246177, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6064057946205139, 1.9449886083602905, -1.040168285369873, 1.2352445125579834, 1.2097413539886475, -0.704528272151947, 0.0031999999191612005, -0.0031999999191612005, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6064057946205139, 1.9496111869812012, -1.0504602193832397, 1.219457745552063, 1.2097413539886475, -0.7195649743080139, 0.009499999694526196, -0.009499999694526196, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6064057946205139, 1.9512858390808105, -1.0825222730636597, 1.1849883794784546, 1.2097413539886475, -0.7221466898918152, 0.015449999831616879, -0.015449999831616879, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6064057946205139, 1.9512858390808105, -1.1194337606430054, 1.1396340131759644, 1.2097413539886475, -0.7221466898918152, 0.020400000736117363, -0.020400000736117363, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6064057946205139, 1.9512858390808105, -1.1513563394546509, 1.0894476175308228, 1.2097413539886475, -0.7031152844429016, 0.02604999952018261, -0.02604999952018261, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6064057946205139, 1.9512858390808105, -1.1696724891662598, 1.0504428148269653, 1.2097413539886475, -0.6855666637420654, 0.03215000033378601, -0.03215000033378601, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6064057946205139, 1.9512858390808105, -1.1754814386367798, 1.0378482341766357, 1.2097413539886475, -0.6825662851333618, 0.03864999860525131, -0.03864999860525131, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6064057946205139, 1.9512858390808105, -1.1763361692428589, 1.0252187252044678, 1.211503267288208, -0.6825662851333618, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6082373857498169, 1.9512858390808105, -1.1782200336456299, 1.016706109046936, 1.211503267288208, -0.6880785822868347, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6252104043960571, 1.9512858390808105, -1.1933091878890991, 0.9908192157745361, 1.211503267288208, -0.712221086025238, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6570631265640259, 1.9491925239562988, -1.2277785539627075, 0.9389058351516724, 1.211503267288208, -0.7197394371032715, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.6862643957138062, 1.9405403137207031, -1.2621606588363647, 0.9140481352806091, 1.213265061378479, -0.7197394371032715, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7503536343574524, 0.11151949316263199, 0.0, -0.0, 0.7011092305183411, 1.9364758729934692, -1.274196982383728, 0.9044365286827087, 1.213265061378479, -0.7213268280029297, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7522899508476257, 0.11151949316263199, 0.0, -0.0, 0.7053481340408325, 1.9364758729934692, -1.2760111093521118, 0.8754794597625732, 1.213265061378479, -0.7133549451828003, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7541564702987671, 0.1075073704123497, 0.0, -0.0, 0.7053481340408325, 1.9364758729934692, -1.2760111093521118, 0.8603554964065552, 1.213265061378479, -0.7008301615715027, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9196127653121948, -0.1672007441520691, 0.7541564702987671, 0.10536175966262817, 0.0, -0.0, 0.7053481340408325, 1.9364758729934692, -1.2760111093521118, 0.8579482436180115, 1.213265061378479, -0.6944107413291931, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.1672007441520691, 0.7641518712043762, 0.08896440267562866, 0.0, -0.0, 0.7053481340408325, 1.9364758729934692, -1.2780694961547852, 0.8450222611427307, 1.213265061378479, -0.6928408145904541, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.1672007441520691, 0.7684256434440613, 0.08233568072319031, 0.0, -0.0, 0.7061156630516052, 1.9364758729934692, -1.2938389778137207, 0.8083549737930298, 1.2150617837905884, -0.6877297163009644, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.1672007441520691, 0.7708852291107178, 0.07835844904184341, 0.0, -0.0, 0.707685649394989, 1.9364758729934692, -1.324540376663208, 0.793719470500946, 1.2150617837905884, -0.6852177381515503, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.16526445746421814, 0.7725250124931335, 0.07835844904184341, 0.0, -0.0, 0.707685649394989, 1.9364758729934692, -1.348996877670288, 0.8001911640167236, 1.2150617837905884, -0.6852177381515503, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.1632235050201416, 0.7725250124931335, 0.07513130456209183, 0.0, -0.0, 0.7083833813667297, 1.9364758729934692, -1.3536717891693115, 0.803767204284668, 1.2150617837905884, -0.681397557258606, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.15900206565856934, 0.7725250124931335, 0.07513130456209183, 0.0, -0.0, 0.7083833813667297, 1.9364758729934692, -1.3536717891693115, 0.803767204284668, 1.2150617837905884, -0.681397557258606, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.1515011340379715, 0.7725250124931335, 0.07513130456209183, 4.999999873689376e-05, -4.999999873689376e-05, 0.7083833813667297, 1.9364758729934692, -1.3536717891693115, 0.7995457649230957, 1.2150617837905884, -0.681397557258606, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.14766345918178558, 0.7725250124931335, 0.07417188584804535, 0.0048500001430511475, -0.0048500001430511475, 0.7083833813667297, 1.9364758729934692, -1.3536717891693115, 0.781491219997406, 1.2150617837905884, -0.681397557258606, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.1357666552066803, 0.7775488495826721, 0.07417188584804535, 0.01875000074505806, -0.01875000074505806, 0.7083833813667297, 1.9364758729934692, -1.3536717891693115, 0.7725075483322144, 1.2150617837905884, -0.681397557258606, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.12512581050395966, 0.7820145487785339, 0.07417188584804535, 0.031050000339746475, -0.031050000339746475, 0.7083833813667297, 1.9364758729934692, -1.3536717891693115, 0.767221987247467, 1.2150617837905884, -0.681397557258606, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.12441060692071915, 0.7875791788101196, 0.06578132510185242, 0.03370000049471855, -0.03370000049471855, 0.7083833813667297, 1.9364758729934692, -1.3536717891693115, 0.7523248195648193, 1.2150617837905884, -0.681397557258606, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.12045081704854965, 0.7878931760787964, 0.05854206532239914, 0.03370000049471855, -0.03370000049471855, 0.7083833813667297, 1.9364758729934692, -1.3536717891693115, 0.7236818075180054, 1.2150617837905884, -0.681397557258606, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.11678758263587952, 0.7919226884841919, 0.05634412169456482, 0.03370000049471855, -0.03370000049471855, 0.7083833813667297, 1.9364758729934692, -1.3536717891693115, 0.7112790942192078, 1.2150617837905884, -0.6948119401931763, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.11279290169477463, 0.7954987287521362, 0.05634412169456482, 0.03370000049471855, -0.03370000049471855, 0.7083833813667297, 1.9345744848251343, -1.3536717891693115, 0.7103894352912903, 1.2150617837905884, -0.7129886150360107, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7310901880264282, -0.9211652874946594, -0.1027451604604721, 0.7954987287521362, 0.05210522934794426, 0.03370000049471855, -0.03370000049471855, 0.7083833813667297, 1.921805500984192, -1.3536717891693115, 0.7103894352912903, 1.2150617837905884, -0.7273450493812561, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.7257000207901, -0.9211652874946594, -0.09677930921316147, 0.7979059815406799, 0.05210522934794426, 0.03370000049471855, -0.03370000049471855, 0.7083833813667297, 1.891505241394043, -1.3536717891693115, 0.7221118211746216, 1.2150617837905884, -0.7296127676963806, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.707697868347168, -0.9211652874946594, -0.09395338594913483, 0.7955859303474426, 0.05210522934794426, 0.03370000049471855, -0.03370000049471855, 0.7083833813667297, 1.8643449544906616, -1.3536717891693115, 0.7453821301460266, 1.2171201705932617, -0.7296127676963806, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.6841135025024414, -0.9211652874946594, -0.09124956279993057, 0.787474513053894, 0.05210522934794426, 0.03370000049471855, -0.03370000049471855, 0.7100754380226135, 1.8513317108154297, -1.3560965061187744, 0.7783163785934448, 1.2171201705932617, -0.7572440505027771, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.6687453985214233, -0.9211652874946594, -0.08781309425830841, 0.7747927308082581, 0.05210522934794426, 0.03485000133514404, -0.03485000133514404, 0.7219896912574768, 1.8509130477905273, -1.3559744358062744, 0.7871953845024109, 1.2171201705932617, -0.7796421647071838, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.6621689796447754, -0.9211652874946594, -0.08781309425830841, 0.7705363631248474, 0.046662699431180954, 0.03985000029206276, -0.03985000029206276, 0.7308163642883301, 1.8509130477905273, -1.3559744358062744, 0.7706584930419922, 1.2171201705932617, -0.786549985408783, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.6621689796447754, -0.9211652874946594, -0.0800330713391304, 0.7686175107955933, 0.04357511177659035, 0.04, -0.04, 0.7324386835098267, 1.8492035865783691, -1.3559744358062744, 0.7706584930419922, 1.2171201705932617, -0.7880152463912964, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.6621689796447754, -0.9211652874946594, -0.0761081725358963, 0.7686175107955933, 0.03991187363862991, 0.04, -0.04, 0.7324386835098267, 1.833695888519287, -1.3559744358062744, 0.7644309401512146, 1.2171201705932617, -0.7999469637870789, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.6621689796447754, -0.9211652874946594, -0.06960155814886093, 0.7686175107955933, 0.03991187363862991, 0.04, -0.04, 0.7324386835098267, 1.804948091506958, -1.3559744358062744, 0.7630703449249268, 1.2171201705932617, -0.8055115938186646, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.6621689796447754, -0.9211652874946594, -0.06776993721723557, 0.7686175107955933, 0.03352736681699753, 0.04, -0.04, 0.7324386835098267, 1.7791658639907837, -1.3559744358062744, 0.7522027492523193, 1.2171201705932617, -0.8093492388725281, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.6621689796447754, -0.9332714676856995, -0.06776993721723557, 0.7865673899650574, 0.025677567347884178, 0.04, -0.04, 0.7324386835098267, 1.7558432817459106, -1.3559744358062744, 0.7167565226554871, 1.2171201705932617, -0.8117390871047974, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.6621689796447754, -0.9695374965667725, -0.05986780673265457, 0.84148108959198, 0.025764787569642067, 0.04, -0.04, 0.7324386835098267, 1.7252639532089233, -1.3559744358062744, 0.7026617527008057, 1.2171201705932617, -0.8117390871047974, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.6510571241378784, -1.0153803825378418, -0.05248899757862091, 0.924043595790863, 0.025764787569642067, 0.04, -0.04, 0.7324386835098267, 1.6891897916793823, -1.3559744358062744, 0.7010743618011475, 1.2171201705932617, -0.7999818325042725, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.6171460151672363, -1.0674506425857544, -0.05611734837293625, 1.030574083328247, 0.044604308903217316, 0.04, -0.04, 0.7324386835098267, 1.6387940645217896, -1.3559744358062744, 0.7537028789520264, 1.2171201705932617, -0.7901085615158081, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.588346004486084, -1.089133620262146, -0.08985404670238495, 1.0796265602111816, 0.04690691456198692, 0.04, -0.04, 0.7324386835098267, 1.6151225566864014, -1.3559744358062744, 0.8613847494125366, 1.2171201705932617, -0.7564939260482788, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.567238688468933, -1.0940701961517334, -0.13784249126911163, 1.1024259328842163, 0.049314189702272415, 0.04, -0.04, 0.7343226075172424, 1.6105695962905884, -1.3559744358062744, 0.9779978394508362, 1.2171201705932617, -0.7105290293693542, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.5553419589996338, -1.0956401824951172, -0.15983937680721283, 1.114497184753418, 0.05083181709051132, 0.04, -0.04, 0.7470567226409912, 1.6090868711471558, -1.3559744358062744, 1.0477041006088257, 1.2171201705932617, -0.6935036778450012, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.5450325012207031, -1.0956401824951172, -0.16189776360988617, 1.134139060974121, 0.05083181709051132, 0.03395000100135803, -0.03395000100135803, 0.7710422277450562, 1.6090868711471558, -1.3559744358062744, 1.0847028493881226, 1.2171201705932617, -0.6895439028739929, 0.04, -0.04, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.528408408164978, -1.0956401824951172, -0.16781127452850342, 1.1512516736984253, 0.05083181709051132, 0.01889999955892563, -0.01889999955892563, 0.7874570488929749, 1.608511209487915, -1.3559744358062744, 1.096547245979309, 1.2171201705932617, -0.6895439028739929, 0.033399999141693115, -0.033399999141693115, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.5018935203552246, -1.0956401824951172, -0.1703057736158371, 1.165346384048462, 0.05083181709051132, 0.0044999998062849045, -0.0044999998062849045, 0.7897945642471313, 1.5971202850341797, -1.3559744358062744, 1.0892033576965332, 1.2171201705932617, -0.6816242933273315, 0.0064500002190470695, -0.0064500002190470695, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.4638830423355103, -1.0956401824951172, -0.1773357093334198, 1.1695678234100342, 0.07049120217561722, 0.0, -0.0, 0.7897945642471313, 1.5692447423934937, -1.3559744358062744, 1.0596532821655273, 1.215183973312378, -0.6724487543106079, 4.999999873689376e-05, -4.999999873689376e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.4014509916305542, -1.0956401824951172, -0.18413886427879333, 1.1715041399002075, 0.08896440267562866, 0.0, -0.0, 0.787474513053894, 1.5221459865570068, -1.3559744358062744, 1.0253932476043701, 1.215183973312378, -0.6647734045982361, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.304095983505249, -1.0937038660049438, -0.2032400369644165, 1.1115840673446655, 0.09362194687128067, 0.0, -0.0, 0.7640995383262634, 1.4631154537200928, -1.3559744358062744, 0.9455171227455139, 1.215183973312378, -0.629536509513855, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 1.1546357870101929, -1.058501958847046, -0.2587642967700958, 0.9814866781234741, 0.10813535749912262, 0.0, -0.0, 0.7429399490356445, 1.363510251045227, -1.3354429006576538, 0.809680700302124, 1.1545660495758057, -0.5514048337936401, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.9490756988525391, -0.9864058494567871, -0.3266389071941376, 0.8152801990509033, 0.14570973813533783, 0.0, -0.0, 0.7357704639434814, 1.1970422267913818, -1.2520081996917725, 0.6675295233726501, 0.9389232993125916, -0.4840012192726135, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.7395732402801514, -0.8723220825195312, -0.3593812882900238, 0.6340545415878296, 0.17866145074367523, 0.0, -0.0, 0.7357704639434814, 1.012292742729187, -1.090633749961853, 0.5996549725532532, 0.679286777973175, -0.472627729177475, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.5341004133224487, -0.7202453017234802, -0.35992205142974854, 0.4588993191719055, 0.20221084356307983, 0.0, -0.0, 0.7357704639434814, 0.8208274245262146, -0.8933770060539246, 0.584129810333252, 0.426889568567276, -0.5088937878608704, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.35760200023651123, -0.5357226729393005, -0.3603407144546509, 0.3570612370967865, 0.22884783148765564, 0.0, -0.0, 0.7357704639434814, 0.6316821575164795, -0.6761817932128906, 0.5766113996505737, 0.20191429555416107, -0.5309605002403259, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.2166021466255188, -0.3727433979511261, -0.3516536056995392, 0.3286449611186981, 0.24766990542411804, 0.0, -0.0, 0.7357704639434814, 0.5013405680656433, -0.4620392322540283, 0.5766113996505737, 0.03030022792518139, -0.5353214740753174, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.1309695541858673, -0.23045268654823303, -0.3490195572376251, 0.3218069076538086, 0.24978064000606537, 0.0, -0.0, 0.7357704639434814, 0.4182722270488739, -0.2691260278224945, 0.5835018157958984, -0.07853288948535919, -0.5353214740753174, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.08045172691345215, -0.09482558071613312, -0.3490195572376251, 0.25297290086746216, 0.2516994774341583, 0.0, -0.0, 0.7357704639434814, 0.3689754903316498, -0.1483961045742035, 0.5878976583480835, -0.18502850830554962, -0.5353214740753174, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.052471552044153214, -0.013745872303843498, -0.3907979428768158, 0.1248292624950409, 0.24196572601795197, 0.0, -0.0, 0.7357704639434814, 0.3470483720302582, -0.0470988005399704, 0.5878976583480835, -0.33482012152671814, -0.533454954624176, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.0478663370013237, -0.005180867854505777, -0.3876928985118866, 0.05139002576470375, 0.29546648263931274, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.00898365955799818, 0.6122146248817444, -0.42732566595077515, -0.5406593084335327, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.044220540672540665, -0.005180867854505777, -0.36225953698158264, 0.024927476420998573, 0.32916828989982605, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.640648365020752, -0.41237616539001465, -0.5812864303588867, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.044220540672540665, -0.002825927920639515, -0.3460017442703247, 0.022624868899583817, 0.3428792655467987, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6510624289512634, -0.3618060052394867, -0.6125984191894531, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.044220540672540665, -0.000819868000689894, -0.34185007214546204, 0.022624868899583817, 0.346873939037323, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.31263136863708496, -0.619872510433197, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.044220540672540665, -0.000819868000689894, -0.3391462564468384, 0.022624868899583817, 0.346873939037323, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2794877588748932, -0.6218786239624023, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.044220540672540665, -0.000819868000689894, -0.3391462564468384, 0.022624868899583817, 0.346873939037323, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2706087827682495, -0.6218786239624023, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.044220540672540665, -0.000819868000689894, -0.3391462564468384, 0.022624868899583817, 0.346873939037323, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2707657814025879, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.044220540672540665, -0.000819868000689894, -0.3391462564468384, 0.022624868899583817, 0.346873939037323, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2707657814025879, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.044220540672540665, -0.000819868000689894, -0.3391462564468384, 0.022624868899583817, 0.346873939037323, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2707657814025879, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3947402834892273, 0.044220540672540665, -0.000819868000689894, -0.3391462564468384, 0.022624868899583817, 0.346873939037323, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2707657814025879, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3820759356021881, 0.044220540672540665, -0.000819868000689894, -0.31755056977272034, 0.022624868899583817, 0.35210713744163513, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2684805989265442, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.32049861550331116, 0.040853846818208694, -0.000819868000689894, -0.27350446581840515, 0.019955936819314957, 0.35414808988571167, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2684805989265442, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.233784481883049, 0.040853846818208694, -0.000819868000689894, -0.25070518255233765, 0.019955936819314957, 0.35414808988571167, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2684805989265442, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.160013809800148, 0.040853846818208694, -0.000819868000689894, -0.2260393500328064, 0.019955936819314957, 0.35414808988571167, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2684805989265442, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.11525250971317291, 0.040853846818208694, -0.000819868000689894, -0.20915356278419495, 0.017845211550593376, 0.35414808988571167, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2684805989265442, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.08964471518993378, 0.040853846818208694, -0.000819868000689894, -0.17231182754039764, 0.015647267922759056, 0.32377809286117554, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.2684805989265442, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.07793979346752167, 0.040853846818208694, -0.000819868000689894, -0.12458504736423492, 0.015647267922759056, 0.2769409418106079, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.07793979346752167, 0.040853846818208694, -0.000819868000689894, -0.1051001027226448, 0.015647267922759056, 0.263543963432312, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.07561974227428436, 0.040853846818208694, -0.000819868000689894, -0.09001103788614273, 0.015647267922759056, 0.2455243021249771, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.06285072863101959, 0.040853846818208694, -0.000819868000689894, -0.06913056969642639, 0.015647267922759056, 0.2198118418455124, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.03893500939011574, 0.040853846818208694, -0.000819868000689894, -0.062362298369407654, 0.015647267922759056, 0.21047930419445038, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.028137171640992165, 0.040853846818208694, -0.000819868000689894, -0.060548122972249985, 0.015647267922759056, 0.20578686892986298, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.05444272235035896, 0.015647267922759056, 0.204094797372818, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.04010375589132309, 0.015647267922759056, 0.1735154688358307, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.006628720089793205, 0.015647267922759056, 0.1106124073266983, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.030178120359778404, 0.015647267922759056, 0.07947486639022827, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.03427746146917343, 0.015647267922759056, 0.06056556850671768, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.03603930398821831, 0.015647267922759056, 0.05655344948172569, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.03603930398821831, 0.015647267922759056, 0.054739270359277725, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.03603930398821831, 0.01788010075688362, 0.05268087983131409, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.03603930398821831, 0.01788010075688362, 0.05268087983131409, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6256988644599915, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.03603930398821831, 0.01788010075688362, 0.021054908633232117, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6276176571846008, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.03603930398821831, 0.01788010075688362, -0.012175912037491798, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6276176571846008, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05158190801739693, 0.01788010075688362, -0.020043155178427696, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6276176571846008, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05522770434617996, 0.01788010075688362, -0.022101547569036484, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6276176571846008, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.057251207530498505, 0.01788010075688362, -0.022101547569036484, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6276176571846008, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.057251207530498505, 0.01788010075688362, -0.022101547569036484, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6276176571846008, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.01788010075688362, -0.022101547569036484, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6276176571846008, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.01788010075688362, -0.022101547569036484, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6276176571846008, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.01788010075688362, -0.022101547569036484, 0.0, -0.0, 0.7338516116142273, 0.3430536985397339, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6276176571846008, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.01788010075688362, -0.022101547569036484, 0.0, -0.0, 0.7292638421058655, 0.34005334973335266, -0.005372751969844103, 0.6553536653518677, -0.26636987924575806, -0.6276176571846008, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.01788010075688362, -0.022101547569036484, 0.0, -0.0, 0.6797577738761902, 0.2942802906036377, -0.005372751969844103, 0.6553536653518677, -0.2519262433052063, -0.6321356892585754, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.01788010075688362, -0.022101547569036484, 0.0, -0.0, 0.5752508044242859, 0.22565558552742004, -0.005372751969844103, 0.6531731486320496, -0.2504086196422577, -0.6323100924491882, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.022101547569036484, 0.0, -0.0, 0.43360552191734314, 0.1467040330171585, -0.005372751969844103, 0.6531731486320496, -0.2504086196422577, -0.6323100924491882, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.022101547569036484, 0.0, -0.0, 0.3155619502067566, 0.056222010403871536, -0.005372751969844103, 0.6531731486320496, -0.2504086196422577, -0.6323100924491882, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.22408562898635864, 0.008338231593370438, -0.005372751969844103, 0.6531731486320496, -0.2480711191892624, -0.6323100924491882, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.16104300320148468, 0.005896071903407574, -0.005372751969844103, 0.6531731486320496, -0.2198118418455124, -0.6323100924491882, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.1256142407655716, 0.004343555774539709, -0.005372751969844103, 0.6531731486320496, -0.19832083582878113, -0.6323100924491882, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.09133678674697876, 0.004343555774539709, -0.005372751969844103, 0.6531731486320496, -0.17928943037986755, -0.6323100924491882, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06794437766075134, 0.004343555774539709, -0.005372751969844103, 0.6531731486320496, -0.1623687446117401, -0.6323100924491882, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06241463124752045, 0.004343555774539709, -0.005372751969844103, 0.6531731486320496, -0.15335020422935486, -0.6323100924491882, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.6531731486320496, -0.14939041435718536, -0.6378223896026611, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.6531731486320496, -0.12392217665910721, -0.6692041754722595, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.5666159987449646, -0.08596403151750565, -0.6170640587806702, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.356468141078949, -0.053553078323602676, -0.40363672375679016, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.19880926609039307, -0.03312615677714348, -0.21061885356903076, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.14314545691013336, 0.0, -0.11209514737129211, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.08727233111858368, 0.01507161557674408, -0.006838047876954079, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.04259824752807617, 0.020112931728363037, 0.05295998230576515, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.03319593146443367, 0.022031772881746292, 0.051041144877672195, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.022031772881746292, 0.03586486354470253, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.022031772881746292, 0.028922151774168015, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.022031772881746292, 0.026340439915657043, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.022031772881746292, 0.024264603853225708, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.022031772881746292, 0.021787555888295174, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.022031772881746292, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.02621833235025406, -0.005268088076263666, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.03570786863565445, -0.007448588032275438, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.03748715668916702, -0.007448588032275438, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.03748715668916702, -0.007448588032275438, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.06072256341576576, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.03748715668916702, -0.009262763895094395, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.05322164297103882, 0.004343555774539709, -0.005372751969844103, 0.030579332262277603, 0.04115039482712746, -0.013466767966747284, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.02478792332112789, 0.004343555774539709, -0.005372751969844103, 0.0353415422141552, 0.04347044974565506, -0.01866508089005947, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005564636085182428, 0.004343555774539709, -0.005372751969844103, 0.0486513152718544, 0.045703280717134476, -0.016031036153435707, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.05226222425699234, 0.057163987308740616, -0.016031036153435707, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.05315186828374863, 0.07385789602994919, -0.01278645172715187, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.056152235716581345, 0.08305088430643082, -0.008512672036886215, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.06330427527427673, 0.08723744750022888, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.06742105633020401, 0.08723744750022888, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08723744750022888, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.005355307832360268, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.0074660321697592735, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.02794528752565384, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.04763956367969513, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.05220989137887955, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.05390195921063423, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.04347044974565506, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.027177752926945686, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.02503214031457901, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.07120640575885773, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.05704187974333763, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.04024330899119377, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.03853379562497139, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.03853379562497139, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.03853379562497139, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.05890838801860809, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.03895245119929314, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.011635147966444492, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, -0.02386339195072651, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, -0.018891852349042892, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.0, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.013048112392425537, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.015089060179889202, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.015089060179889202, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.015089060179889202, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.017007900401949883, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.018856963142752647, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.018856963142752647, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.018856963142752647, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.018856963142752647, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.018856963142752647, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.018856963142752647, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.018856963142752647, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.018856963142752647, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08872018754482269, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.016100812703371048, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.01812431588768959, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, 0.0, 0.03595208376646042, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.011146715842187405, 0.06928756833076477, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.012838783673942089, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.015333276242017746, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.01664157584309578, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.020653696730732918, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.025991560891270638, 0.040853846818208694, -0.000819868000689894, -0.019450059160590172, 0.07596862316131592, 0.022502759471535683, 0.0, -0.0, 0.023357516154646873, 0.004343555774539709, -0.005372751969844103, 0.0376441515982151, 0.08959238231182098, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-aloha/000049/meta.json b/rc-table30-v2__rc-aloha/000049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f337963e7deb8a80706f53c30982d14bda19325e
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000049/meta.json
@@ -0,0 +1,133 @@
+{
+ "format_version": 8,
+ "prompt": "Put the toothbrush and toothpaste into the toiletries case in sequence, close the case, and then place it into the basket.",
+ "mjcf_path": "mjcf/aloha_tracer2_dabai_dark_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "site",
+ "object_name": "gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ },
+ {
+ "object_type": "site",
+ "object_name": "fr_gripper_center",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 0.0,
+ -1.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "fl_base_link",
+ "fl_link1",
+ "fl_link2",
+ "fl_link3",
+ "fl_link4",
+ "fl_link5",
+ "fl_link6",
+ "fl_link7",
+ "fl_link8"
+ ],
+ [
+ "fr_base_link",
+ "fr_link1",
+ "fr_link2",
+ "fr_link3",
+ "fr_link4",
+ "fr_link5",
+ "fr_link6",
+ "fr_link7",
+ "fr_link8"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "gripper_center",
+ "finger_bodies": [
+ "fl_link7",
+ "fl_link8"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "site",
+ "ee_object_name": "fr_gripper_center",
+ "finger_bodies": [
+ "fr_link7",
+ "fr_link8"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-aloha",
+ "source_repo_id": "rc-table30-v2/rc-aloha",
+ "episode_index": 9468,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "ALOHA"
+ }
+}
diff --git a/rc-table30-v2__rc-aloha/000049/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml b/rc-table30-v2__rc-aloha/000049/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c1ffe98e0d65bc03b851b4775a5e43e6c239fcee
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000049/mjcf/aloha_tracer2_dabai_dark_no_mesh.xml
@@ -0,0 +1,308 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-aloha/000049/temporal.json b/rc-table30-v2__rc-aloha/000049/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..49d28a56a36fde8bc4a7f9c7d23b96a490e27c0d
--- /dev/null
+++ b/rc-table30-v2__rc-aloha/000049/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.003907456062734127, -0.0020409480202943087, 0.023409847170114517, 0.015019283629953861, -0.017600996419787407, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.003907456062734127, -0.0020409480202943087, 0.023409847170114517, 0.015019283629953861, -0.017600996419787407, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.003907456062734127, -0.0020409480202943087, 0.023409847170114517, 0.015019283629953861, -0.017600996419787407, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.003907456062734127, -0.0020409480202943087, 0.023409847170114517, 0.015019283629953861, -0.017600996419787407, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.003907456062734127, -0.0020409480202943087, 0.023409847170114517, 0.015019283629953861, -0.017600996419787407, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.003907456062734127, -0.0020409480202943087, 0.023409847170114517, 0.015019283629953861, -0.017600996419787407, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.003907456062734127, -0.0020409480202943087, 0.023409847170114517, 0.015019283629953861, -0.017600996419787407, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.003907456062734127, -0.0020409480202943087, 0.023409847170114517, 0.015019283629953861, -0.017600996419787407, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.003907456062734127, -0.0020409480202943087, 0.037469711154699326, 0.0, -0.011757256463170052, 0.003949999809265137, -0.003949999809265137, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.003907456062734127, -0.006576388143002987, 0.09588966518640518, -0.012978335842490196, -0.009175543673336506, 0.011149999685585499, -0.011149999685585499, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.028346499428153038, -0.0745556578040123, 0.13829603791236877, 0.0, -0.009175543673336506, 0.018400000408291817, -0.018400000408291817, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.022956304252147675, 0.12130557745695114, -0.18078961968421936, 0.15197212994098663, 0.007797467987984419, -0.009175543673336506, 0.022099999710917473, -0.022099999710917473, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.02449137531220913, 0.2850000858306885, -0.30813083052635193, 0.16737517714500427, 0.02754407562315464, -0.009175543673336506, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.02550312876701355, 0.49232199788093567, -0.4699936807155609, 0.1805628389120102, 0.11781677603721619, -0.009175543673336506, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.026863759383559227, 0.745922863483429, -0.673373281955719, 0.18241190910339355, 0.2912275791168213, -0.0361090786755085, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.02927103266119957, 1.0342198610305786, -0.889539361000061, 0.2103048712015152, 0.49628180265426636, -0.15638546645641327, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.031835298985242844, 1.3370476961135864, -1.1244577169418335, 0.2831510007381439, 0.7166169881820679, -0.34266993403434753, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.031835298985242844, 1.589200735092163, -1.37804114818573, 0.39128637313842773, 0.9327830076217651, -0.5331060886383057, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.03830702230334282, 1.803831696510315, -1.5838279724121094, 0.4864085018634796, 1.1099791526794434, -0.6919686198234558, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.06947945058345795, 1.9763703346252441, -1.737579345703125, 0.5195346474647522, 1.1795982122421265, -0.7818575501441956, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.11704923957586288, 2.08272647857666, -1.8369404077529907, 0.5291637182235718, 1.1969026327133179, -0.8560817241668701, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.17768459022045135, 2.1468505859375, -1.875997543334961, 0.5291637182235718, 1.203077793121338, -0.9747358560562134, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.24210527539253235, 2.1894662380218506, -1.8845101594924927, 0.5360018014907837, 1.2003564834594727, -1.0770623683929443, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2858548164367676, 2.222435474395752, -1.886969804763794, 0.5536900162696838, 1.161281943321228, -1.1428087949752808, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30099621415138245, 2.258841037750244, -1.89905846118927, 0.5552425384521484, 1.1335633993148804, -1.2045081853866577, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30326393246650696, 2.307126045227051, -1.9341384172439575, 0.5552425384521484, 1.1311736106872559, -1.228040099143982, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30326393246650696, 2.3590917587280273, -1.9935874938964844, 0.5435899496078491, 1.1545137166976929, -1.232191801071167, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30326393246650696, 2.3980441093444824, -2.0385756492614746, 0.5379380583763123, 1.1752022504806519, -1.2527234554290771, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30326393246650696, 2.420983076095581, -2.0478732585906982, 0.5362808704376221, 1.181325078010559, -1.2812618017196655, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30326393246650696, 2.4306819438934326, -2.0478732585906982, 0.5355831384658813, 1.1834357976913452, -1.2893383502960205, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30326393246650696, 2.4350428581237793, -2.048710584640503, 0.5355831384658813, 1.1847790479660034, -1.291361927986145, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30326393246650696, 2.444340467453003, -2.0502805709838867, 0.5355831384658813, 1.1872037649154663, -1.2928097248077393, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30326393246650696, 2.453219413757324, -2.0502805709838867, 0.5452122092247009, 1.1950186491012573, -1.2928097248077393, 0.02215000055730343, -0.02215000055730343, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30326393246650696, 2.4579293727874756, -2.0502805709838867, 0.5545796751976013, 1.19650137424469, -1.2934377193450928, 0.0210999995470047, -0.0210999995470047, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30326393246650696, 2.4579293727874756, -2.0502805709838867, 0.5545796751976013, 1.19650137424469, -1.2934377193450928, 0.014449999667704105, -0.014449999667704105, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30326393246650696, 2.4579293727874756, -2.0502805709838867, 0.5524165630340576, 1.19650137424469, -1.2934377193450928, 0.005450000055134296, -0.005450000055134296, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.3053397834300995, 2.4579293727874756, -2.0502805709838867, 0.5311349034309387, 1.19650137424469, -1.2951821088790894, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.30741560459136963, 2.4579293727874756, -2.0502805709838867, 0.524384081363678, 1.201507806777954, -1.2951821088790894, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.3153875172138214, 2.4579293727874756, -2.0502805709838867, 0.5157144069671631, 1.201507806777954, -1.2951821088790894, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.33016258478164673, 2.425361394882202, -2.0502805709838867, 0.5067307353019714, 1.205851435661316, -1.2951821088790894, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.35346776247024536, 2.3211159706115723, -2.0444018840789795, 0.5068703293800354, 1.205851435661316, -1.2951821088790894, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.3800000846385956, 2.1888556480407715, -1.9886683225631714, 0.5000148415565491, 1.2037231922149658, -1.2951821088790894, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.41471365094184875, 2.041261911392212, -1.8548030853271484, 0.4881354570388794, 1.2037231922149658, -1.2951821088790894, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.46667933464050293, 1.8915749788284302, -1.6280485391616821, 0.4590388536453247, 1.1994494199752808, -1.2951821088790894, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5342922806739807, 1.7755200862884521, -1.3775526285171509, 0.4392399191856384, 1.0921688079833984, -1.2951821088790894, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5893978476524353, 1.7286829948425293, -1.1416923999786377, 0.4654408097267151, 0.8636524677276611, -1.3364022970199585, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.6314030289649963, 1.7388005256652832, -1.0032392740249634, 0.5124872922897339, 0.6741059422492981, -1.3972469568252563, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.6670759916305542, 1.7792880535125732, -0.9523202776908875, 0.5542133450508118, 0.5534981489181519, -1.4366180896759033, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.6742454767227173, 1.8381266593933105, -0.9452031254768372, 0.6037717461585999, 0.514859676361084, -1.4745063781738281, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.6781005859375, 1.8822076320648193, -0.9452031254768372, 0.6172385215759277, 0.4847862124443054, -1.502695918083191, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.6800369024276733, 1.9058442115783691, -0.9452031254768372, 0.6217913627624512, 0.4687028229236603, -1.5133193731307983, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.6800369024276733, 1.9140080213546753, -0.9452031254768372, 0.6237974166870117, 0.4604867100715637, -1.515517234802246, 0.006300000008195639, -0.006300000008195639, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.6800369024276733, 1.9140080213546753, -0.9452031254768372, 0.6255592703819275, 0.4604867100715637, -1.5174884796142578, 0.014700000174343586, -0.014700000174343586, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.6800369024276733, 1.9084782600402832, -0.9452031254768372, 0.6255592703819275, 0.4600506126880646, -1.5174884796142578, 0.021700000390410423, -0.021700000390410423, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.6800369024276733, 1.8298755884170532, -0.9423597455024719, 0.6255592703819275, 0.4581840932369232, -1.4659240245819092, 0.02199999988079071, -0.02199999988079071, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.6682447791099548, 1.7106283903121948, -0.9423597455024719, 0.6111156344413757, 0.4581840932369232, -1.34385085105896, 0.018650000914931297, -0.018650000914931297, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.6097375750541687, 1.5718439817428589, -0.9423597455024719, 0.5452820062637329, 0.46032971143722534, -1.1005593538284302, 0.0017999999690800905, -0.0017999999690800905, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.4464617371559143, 1.4041024446487427, -0.9423597455024719, 0.3414314091205597, 0.5002939105033875, -0.6716288924217224, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.28356966376304626, 1.3517704010009766, -0.9423597455024719, 0.16665998101234436, 0.6136276125907898, -0.3219115734100342, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.1348944455385208, 1.3551894426345825, -0.9423597455024719, 0.0, 0.7709898948669434, -0.06103655695915222, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.012978335842490196, 1.3913334608078003, -0.9423597455024719, -0.10325103253126144, 0.8406438231468201, 0.04017353057861328, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, -0.07523597031831741, 1.4499801397323608, -0.9423597455024719, -0.17485865950584412, 0.8425975441932678, 0.06853747367858887, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, -0.13759827613830566, 1.5341823101043701, -0.9423597455024719, -0.20627529919147491, 0.82236248254776, 0.07677104324102402, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, -0.16062435507774353, 1.6241759061813354, -0.9423597455024719, -0.21487519145011902, 0.7727517485618591, 0.07718969881534576, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, -0.1623687446117401, 1.6939868927001953, -0.9423597455024719, -0.21487519145011902, 0.7164773941040039, 0.07718969881534576, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, -0.1623687446117401, 1.7616171836853027, -0.9423597455024719, -0.20180962979793549, 0.6741582751274109, 0.07718969881534576, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, -0.15171046555042267, 1.818345069885254, -0.9423597455024719, -0.19286085665225983, 0.646369993686676, 0.07718969881534576, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, -0.11558394134044647, 1.8465520143508911, -0.9423597455024719, -0.17581807076931, 0.6353104710578918, 0.07718969881534576, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, -0.05555913969874382, 1.85227370262146, -0.9423597455024719, -0.1593334972858429, 0.6337754130363464, 0.07718969881534576, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.01709512062370777, 1.85227370262146, -0.9423597455024719, -0.13913334906101227, 0.6337754130363464, 0.07718969881534576, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.07347413152456284, 1.842034101486206, -0.9423597455024719, -0.11293245851993561, 0.6337754130363464, 0.07718969881534576, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.10916455090045929, 1.8284801244735718, -0.9423597455024719, -0.09506980329751968, 0.6337754130363464, 0.07718969881534576, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.1209043636918068, 1.797778606414795, -0.9423597455024719, -0.08760377019643784, 0.6337754130363464, 0.07718969881534576, 4.999999873689376e-05, -4.999999873689376e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.1209043636918068, 1.738067865371704, -0.9423597455024719, -0.08273689448833466, 0.6356070041656494, 0.07718969881534576, 0.0038499999791383743, -0.0038499999791383743, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.13451068103313446, 1.6625527143478394, -0.9423597455024719, -0.06599064916372299, 0.6440324783325195, 0.07718969881534576, 0.013249999843537807, -0.013249999843537807, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.17930687963962555, 1.611145257949829, -0.9423597455024719, -0.040539857000112534, 0.6648082733154297, 0.07718969881534576, 0.02225000038743019, -0.02225000038743019, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.22963280975818634, 1.6128896474838257, -0.9423597455024719, -0.02857327274978161, 0.6862992644309998, 0.07718969881534576, 0.022700000554323196, -0.022700000554323196, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.25763043761253357, 1.6575638055801392, -0.9423597455024719, -0.01976405270397663, 0.6862992644309998, 0.07718969881534576, 0.021150000393390656, -0.021150000393390656, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2598981559276581, 1.718129277229309, -0.9423597455024719, -0.03483566641807556, 0.6862992644309998, 0.07718969881534576, 0.020600000396370888, -0.020600000396370888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2598981559276581, 1.772031307220459, -0.9423597455024719, -0.053867071866989136, 0.6862992644309998, 0.07718969881534576, 0.020600000396370888, -0.020600000396370888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2598981559276581, 1.8069541454315186, -0.9423597455024719, -0.06161220744252205, 0.6862992644309998, 0.07718969881534576, 0.020600000396370888, -0.020600000396370888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2598981559276581, 1.8286545276641846, -0.9423597455024719, -0.07036909461021423, 0.6862992644309998, 0.07718969881534576, 0.020600000396370888, -0.020600000396370888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2598981559276581, 1.8521690368652344, -0.9423597455024719, -0.07258448749780655, 0.6843630075454712, 0.07718969881534576, 0.020600000396370888, -0.020600000396370888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2598981559276581, 1.8762941360473633, -0.9423597455024719, -0.07258448749780655, 0.6797403693199158, 0.07718969881534576, 0.020600000396370888, -0.020600000396370888, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2598981559276581, 1.8940520286560059, -0.9423597455024719, -0.07258448749780655, 0.6764085292816162, 0.07718969881534576, 0.014999999664723873, -0.014999999664723873, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2598981559276581, 1.8962849378585815, -0.9423597455024719, -0.07258448749780655, 0.6728499531745911, 0.07895154505968094, 0.0027000000700354576, -0.0027000000700354576, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2598981559276581, 1.8978549242019653, -0.9441390633583069, -0.0706307590007782, 0.670285701751709, 0.08074827492237091, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2619216740131378, 1.8842484951019287, -0.9461276531219482, -0.07247982174158096, 0.6736872792243958, 0.08074827492237091, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2724404036998749, 1.8187463283538818, -0.9719448089599609, -0.07247982174158096, 0.699923038482666, 0.0722007155418396, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2952920198440552, 1.6983827352523804, -1.0264747142791748, -0.0196070559322834, 0.6989113092422485, -0.024229716509580612, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.32824376225471497, 1.61658775806427, -1.0965298414230347, 0.1388716846704483, 0.6834559440612793, -0.2486467808485031, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.37166187167167664, 1.6135351657867432, -1.1428087949752808, 0.36309686303138733, 0.7037782073020935, -0.5778499245643616, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.4184989929199219, 1.6808514595031738, -1.1674047708511353, 0.539630115032196, 0.7968942523002625, -0.938888430595398, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.4667665660381317, 1.7792531251907349, -1.2068108320236206, 0.6185817122459412, 0.8918942809104919, -1.1788132190704346, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5074459314346313, 1.871340036392212, -1.2625967264175415, 0.6384678483009338, 0.9229097366333008, -1.264131784439087, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.533332884311676, 1.9498554468154907, -1.3185919523239136, 0.6428986191749573, 0.9332714676856995, -1.2965950965881348, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5434503555297852, 1.9988032579421997, -1.3506016731262207, 0.6426544189453125, 0.9542739987373352, -1.344845175743103, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5458053350448608, 2.023242235183716, -1.3527473211288452, 0.6022192239761353, 0.9699387550354004, -1.363248586654663, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5458053350448608, 2.039203643798828, -1.3527473211288452, 0.5553122758865356, 0.9780153036117554, -1.3672606945037842, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5458053350448608, 2.0458498001098633, -1.3527473211288452, 0.5431712865829468, 0.9808412194252014, -1.381442666053772, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5458053350448608, 2.0577292442321777, -1.3527473211288452, 0.538513720035553, 0.9844347238540649, -1.389397144317627, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5458053350448608, 2.07074236869812, -1.3527473211288452, 0.5380427241325378, 0.9863361120223999, -1.3916997909545898, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5473229289054871, 2.0771093368530273, -1.3527473211288452, 0.5296870470046997, 0.9909412860870361, -1.4029163122177124, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5545098781585693, 2.0861802101135254, -1.3527473211288452, 0.5257970690727234, 0.9929822683334351, -1.4049571752548218, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5627957582473755, 2.103013753890991, -1.3540033102035522, 0.5230234265327454, 0.9929822683334351, -1.4049571752548218, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.569407045841217, 2.1206321716308594, -1.3540033102035522, 0.5177204608917236, 0.9998202919960022, -1.4049571752548218, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5750588774681091, 2.12382435798645, -1.3540033102035522, 0.5171622633934021, 0.9999075531959534, -1.4049571752548218, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5750938057899475, 2.12382435798645, -1.3540033102035522, 0.510324239730835, 0.9999075531959534, -1.4049571752548218, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5750938057899475, 2.12382435798645, -1.3540033102035522, 0.5041141510009766, 0.9999075531959534, -1.4049571752548218, 0.0005499999970197678, -0.0005499999970197678, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5750938057899475, 2.12382435798645, -1.3540033102035522, 0.502038300037384, 0.9999075531959534, -1.4049571752548218, 0.00634999992325902, -0.00634999992325902, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5750938057899475, 2.12382435798645, -1.3540033102035522, 0.5002764463424683, 1.0141069889068604, -1.4049571752548218, 0.015350000001490116, -0.015350000001490116, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5750938057899475, 2.12382435798645, -1.3540033102035522, 0.5007125735282898, 1.0407439470291138, -1.4049571752548218, 0.018950000405311584, -0.018950000405311584, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5750938057899475, 2.1068339347839355, -1.3540033102035522, 0.5007125735282898, 1.0674681663513184, -1.4004566669464111, 0.018799999728798866, -0.018799999728798866, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5750938057899475, 2.0427098274230957, -1.3540033102035522, 0.49493861198425293, 1.0819292068481445, -1.316585898399353, 0.01875000074505806, -0.01875000074505806, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.5454040765762329, 1.923567295074463, -1.3540033102035522, 0.49319422245025635, 1.0856796503067017, -1.0319695472717285, 0.015200000256299973, -0.015200000256299973, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.4525845944881439, 1.7601170539855957, -1.339402675628662, 0.44932255148887634, 1.0748469829559326, -0.7456437945365906, 0.000750000006519258, -0.000750000006519258, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.334157258272171, 1.5966492891311646, -1.2680044174194336, 0.37382492423057556, 1.0197762250900269, -0.4592656195163727, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.2141425460577011, 1.4151619672775269, -1.1086360216140747, 0.27521398663520813, 0.861210286617279, -0.1874532252550125, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.13955199718475342, 1.1957513093948364, -0.905762255191803, 0.14342457056045532, 0.6530858874320984, -0.011251379735767841, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.12266620993614197, 0.952494740486145, -0.7080170512199402, 0.04598238319158554, 0.46263232827186584, 0.058960720896720886, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.016205476596951485, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.1224568784236908, 0.7450332641601562, -0.5410605669021606, 0.019973380491137505, 0.32616791129112244, 0.07469520717859268, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, -0.013902868144214153, 0.0808180496096611, 0.02886982075870037, 0.0, -0.0, 0.1224568784236908, 0.6061092019081116, -0.43990278244018555, 0.01583915203809738, 0.27969709038734436, 0.07649193704128265, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, 0.0, 0.06815370917320251, 0.027805736288428307, 0.0, -0.0, 0.1224568784236908, 0.5136908888816833, -0.39526358246803284, 0.01583915203809738, 0.26797473430633545, 0.07649193704128265, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.00369812804274261, -0.004360999912023544, 0.012315464206039906, -0.008547560311853886, 0.027805736288428307, 0.0, -0.0, 0.1224568784236908, 0.45624780654907227, -0.3853205144405365, 0.013484211638569832, 0.26169487833976746, 0.07649193704128265, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.002424716018140316, 0.008268455974757671, -0.039126891642808914, -0.049488626420497894, -0.05995502695441246, 0.03014323115348816, 0.0, -0.0, 0.1224568784236908, 0.42413341999053955, -0.3853205144405365, 0.013484211638569832, 0.2552057206630707, 0.07841078191995621, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.022188767790794373, 0.11898552626371384, -0.24070975184440613, -0.06560688465833664, 0.16041502356529236, 0.03900478407740593, 0.0, -0.0, 0.1224568784236908, 0.4114341735839844, -0.3853205144405365, 0.013484211638569832, 0.24920497834682465, 0.07841078191995621, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.05405895784497261, 0.3592417240142822, -0.4785935878753662, -0.05821062624454498, 0.58025723695755, 0.026898648589849472, 0.0, -0.0, 0.1224568784236908, 0.41167840361595154, -0.3853205144405365, 0.013484211638569832, 0.24751292169094086, 0.07841078191995621, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.07600350677967072, 0.6481667160987854, -0.6411716938018799, -0.05821062624454498, 0.847865641117096, 0.02047925628721714, 0.0, -0.0, 0.1224568784236908, 0.41167840361595154, -0.3853205144405365, 0.011582816019654274, 0.24751292169094086, 0.07841078191995621, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.08029472827911377, 0.8697229623794556, -0.7514002919197083, -0.08102738112211227, 0.9440692663192749, 0.01774054765701294, 0.0, -0.0, 0.1224568784236908, 0.41167840361595154, -0.3853205144405365, 0.011582816019654274, 0.24751292169094086, 0.07841078191995621, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.08259733766317368, 1.0574029684066772, -0.8239498734474182, -0.08779565244913101, 0.973131000995636, 0.01290856022387743, 0.0, -0.0, 0.1224568784236908, 0.41167840361595154, -0.3853205144405365, 0.011582816019654274, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.10578041523694992, 1.233325719833374, -0.8509357571601868, -0.0423889197409153, 1.0117520093917847, 0.0, 0.0, -0.0, 0.1224568784236908, 0.41167840361595154, -0.3853205144405365, 0.011582816019654274, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.16667741537094116, 1.3626031875610352, -0.8532034754753113, -0.008966215886175632, 1.0386157035827637, -0.005721631925553083, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.011582816019654274, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.25234490633010864, 1.4360250234603882, -0.8339453339576721, 0.0, 1.0132521390914917, -0.00791957601904869, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.011582816019654274, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.34034988284111023, 1.4672322273254395, -0.8074129819869995, 0.007797467987984419, 0.9379813075065613, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.011582816019654274, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.39292609691619873, 1.4972360134124756, -0.7833576798439026, 0.06543244421482086, 0.8644025325775146, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.011582816019654274, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.43187856674194336, 1.5448580980300903, -0.7734320759773254, 0.09636065363883972, 0.8004876971244812, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.011582816019654274, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.44360092282295227, 1.6010626554489136, -0.7734320759773254, 0.11193814873695374, 0.7418235540390015, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.011582816019654274, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.44360092282295227, 1.6578952074050903, -0.7734320759773254, 0.11329878121614456, 0.7128839492797852, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4347219169139862, 1.7111517190933228, -0.7734320759773254, 0.11329878121614456, 0.7073367834091187, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.4184466600418091, 1.7546919584274292, -0.7689838409423828, 0.11329878121614456, 0.6873633861541748, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.38340166211128235, 1.786300539970398, -0.7665591239929199, 0.11329878121614456, 0.6693611741065979, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.3295345902442932, 1.7994532585144043, -0.7665591239929199, 0.11329878121614456, 0.6618078947067261, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.26708507537841797, 1.8018430471420288, -0.7665591239929199, 0.10286726802587509, 0.6618078947067261, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.19891393184661865, 1.8018430471420288, -0.7665591239929199, 0.05280298739671707, 0.6618078947067261, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1153920590877533, 1.7996625900268555, -0.7665591239929199, -0.008059128187596798, 0.6618078947067261, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.02088046818971634, 1.787539005279541, -0.7665591239929199, -0.04401121288537979, 0.6639884114265442, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.050727151334285736, 1.745935082435608, -0.7665591239929199, -0.0573035404086113, 0.6885669827461243, -0.009611643850803375, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10066932439804077, 1.6885617971420288, -0.7731529474258423, -0.060146912932395935, 0.7241178750991821, -0.006960155908018351, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.12013682723045349, 1.6157156229019165, -0.7846311330795288, -0.06560688465833664, 0.7518189549446106, 0.0, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.12390473484992981, 1.5501959323883057, -0.8053720593452454, -0.06761294603347778, 0.7868290543556213, 0.009594200178980827, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.12390473484992981, 1.4979337453842163, -0.8208797574043274, -0.13560965657234192, 0.8310496211051941, 0.06241463124752045, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.15106503665447235, 1.4785534143447876, -0.8208797574043274, -0.24132029712200165, 0.8604950904846191, 0.09189499169588089, 0.000699999975040555, -0.000699999975040555, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.22816751897335052, 1.484501838684082, -0.8208797574043274, -0.33236053586006165, 0.8478307127952576, 0.0957675576210022, 0.007249999791383743, -0.007249999791383743, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.30964845418930054, 1.5119761228561401, -0.8208797574043274, -0.39432162046432495, 0.7933008074760437, 0.022956304252147675, 0.012550000101327896, -0.012550000101327896, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.36056748032569885, 1.5753850936889648, -0.8256593942642212, -0.40682896971702576, 0.7627912163734436, -0.1004774421453476, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.3890360891819, 1.6470624208450317, -0.8473073840141296, -0.38959428668022156, 0.7508769631385803, -0.2243298441171646, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.41249826550483704, 1.7067558765411377, -0.8816895484924316, -0.31339889764785767, 0.7374974489212036, -0.3735458254814148, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.42739543318748474, 1.7504355907440186, -0.9221944808959961, -0.22502760589122772, 0.7374974489212036, -0.47972744703292847, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.7822883129119873, -0.9552683234214783, -0.16779384016990662, 0.7513654232025146, -0.5285183191299438, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.7997846603393555, -0.9659091830253601, -0.13480722904205322, 0.7786129117012024, -0.5501837730407715, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.819356918334961, -0.9659091830253601, -0.11560139060020447, 0.8020402193069458, -0.5658136010169983, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.8353180885314941, -0.9659091830253601, -0.11324644833803177, 0.8167280554771423, -0.5769777297973633, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.8469882011413574, -0.9659091830253601, -0.11324644833803177, 0.8191702365875244, -0.5842344760894775, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.8597745895385742, -0.9659091830253601, -0.11324644833803177, 0.8191702365875244, -0.5863975286483765, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.868653655052185, -0.9659091830253601, -0.11324644833803177, 0.8049010634422302, -0.5881069898605347, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.868653655052185, -0.9659091830253601, -0.11324644833803177, 0.7841252684593201, -0.5881069898605347, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.868653655052185, -0.9659091830253601, -0.11324644833803177, 0.7781943082809448, -0.5881069898605347, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.8798003196716309, -0.9659091830253601, -0.11324644833803177, 0.7772523164749146, -0.5881069898605347, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.8972094058990479, -0.9659091830253601, -0.11324644833803177, 0.7793630361557007, -0.5881069898605347, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.9123857021331787, -0.9659091830253601, -0.11324644833803177, 0.7793630361557007, -0.5881069898605347, 0.013700000010430813, -0.013700000010430813, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.9210031032562256, -0.9659091830253601, -0.11324644833803177, 0.7823982834815979, -0.5881069898605347, 0.012299999594688416, -0.012299999594688416, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.9210031032562256, -0.9659091830253601, -0.11324644833803177, 0.7823982834815979, -0.5881069898605347, 0.005150000099092722, -0.005150000099092722, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.918473720550537, -0.9659091830253601, -0.11085662245750427, 0.7885211110115051, -0.5881069898605347, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.4291572868824005, 1.8910865783691406, -0.9659091830253601, -0.11085662245750427, 0.7908934950828552, -0.5640866160392761, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.431425005197525, 1.825915813446045, -1.0035532712936401, -0.09109257161617279, 0.831956684589386, -0.49403151869773865, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.45148560404777527, 1.7401436567306519, -1.086953043937683, -0.07110174745321274, 0.874415397644043, -0.33140110969543457, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5178949236869812, 1.6867650747299194, -1.175934910774231, -0.06578132510185242, 0.9096348285675049, -0.07654426991939545, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.616662859916687, 1.6762113571166992, -1.2349305152893066, -0.07340434938669205, 0.9306897521018982, 0.2361743152141571, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7173147201538086, 1.6964116096496582, -1.248484492301941, -0.09445925801992416, 0.9443657994270325, 0.4693308174610138, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7887653708457947, 1.7391319274902344, -1.2502464056015015, -0.12973102927207947, 0.9546054601669312, 0.5850368738174438, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8060697913169861, 1.793470025062561, -1.2502464056015015, -0.13669118285179138, 0.9666069149971008, 0.6207970976829529, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 1.8445634841918945, -1.2502464056015015, -0.09700608253479004, 0.9729216694831848, 0.6309669017791748, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 1.8893595933914185, -1.2502464056015015, -0.07197394222021103, 0.9766895771026611, 0.6794961094856262, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 1.9170432090759277, -1.2502464056015015, -0.07010743767023087, 0.9766895771026611, 0.7528481483459473, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 1.9343302249908447, -1.2502464056015015, -0.06845025718212128, 0.9685606360435486, 0.789306104183197, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 1.941185712814331, -1.2502464056015015, -0.06845025718212128, 0.9347367286682129, 0.8021448850631714, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 1.9512335062026978, -1.2502464056015015, -0.07117152214050293, 0.8943887948989868, 0.8135707378387451, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 1.9681541919708252, -1.2507871389389038, -0.07943997532129288, 0.8874635100364685, 0.8359862565994263, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 1.979562520980835, -1.2507871389389038, -0.08100993931293488, 0.8874635100364685, 0.8433476090431213, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 1.9862785339355469, -1.2507871389389038, -0.08282411098480225, 0.8874635100364685, 0.8452141284942627, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 1.9949133396148682, -1.2507871389389038, -0.08324276655912399, 0.8874635100364685, 0.8499937653541565, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 2.003687620162964, -1.2524791955947876, -0.08324276655912399, 0.8874635100364685, 0.8499937653541565, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8068373203277588, 2.008310317993164, -1.2524791955947876, -0.08324276655912399, 0.8874635100364685, 0.8499937653541565, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8048312664031982, 2.008310317993164, -1.2524791955947876, -0.08324276655912399, 0.8854051232337952, 0.8499937653541565, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8027728796005249, 2.008310317993164, -1.2524791955947876, -0.07914342731237411, 0.8854051232337952, 0.8499937653541565, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8027728796005249, 2.008310317993164, -1.2524791955947876, -0.07169484347105026, 0.8854051232337952, 0.8499937653541565, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8027728796005249, 2.008310317993164, -1.2524791955947876, -0.07005510479211807, 0.8854051232337952, 0.8499937653541565, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8027728796005249, 2.008310317993164, -1.2524791955947876, -0.06939223408699036, 0.8854051232337952, 0.8499937653541565, 0.0024500000290572643, -0.0024500000290572643, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8027728796005249, 2.008310317993164, -1.2524791955947876, -0.06939223408699036, 0.8854051232337952, 0.8499937653541565, 0.008700000122189522, -0.008700000122189522, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8027728796005249, 2.008310317993164, -1.2524791955947876, -0.06773505359888077, 0.8854051232337952, 0.8499937653541565, 0.012350000441074371, -0.012350000441074371, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8027728796005249, 2.008310317993164, -1.2524791955947876, -0.06773505359888077, 0.8854051232337952, 0.8499937653541565, 0.013849999755620956, -0.013849999755620956, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8027728796005249, 2.008310317993164, -1.2524791955947876, -0.06773505359888077, 0.8854051232337952, 0.8499937653541565, 0.013500000350177288, -0.013500000350177288, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8027728796005249, 1.995087742805481, -1.2620036602020264, -0.06340894103050232, 0.8880042433738708, 0.812838077545166, 0.010700000450015068, -0.010700000450015068, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8027728796005249, 1.9349058866500854, -1.2978684902191162, -0.04252847284078598, 0.9235551357269287, 0.7461671233177185, 0.003599999938160181, -0.003599999938160181, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8027728796005249, 1.8428364992141724, -1.3153648376464844, -0.05437294766306877, 0.9676012396812439, 0.7019814252853394, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8081456422805786, 1.745551347732544, -1.2881522178649902, -0.1082574650645256, 1.0072165727615356, 0.6865085959434509, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, 0.00976863969117403, 0.24751292169094086, 0.08020751178264618, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.86356520652771, 1.6629539728164673, -1.1896284818649292, -0.11589793860912323, 0.991656482219696, 0.6846246719360352, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, -0.018787188455462456, 0.24751292169094086, 0.056623224169015884, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9628390073776245, 1.615959882736206, -1.0359817743301392, -0.07157272845506668, 0.8589425683021545, 0.6711578965187073, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, -0.1333419382572174, 0.24751292169094086, -0.03654517978429794, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.0359119176864624, 1.6117383241653442, -0.9123212099075317, 0.03478333726525307, 0.6724836230278015, 0.6000910401344299, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, -0.17450977861881256, 0.24751292169094086, -0.06708962470293045, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.0582576990127563, 1.6157505512237549, -0.8407135605812073, 0.12906815111637115, 0.5691802501678467, 0.49171146750450134, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, -0.18408653140068054, 0.24751292169094086, -0.07363112270832062, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.6307697296142578, -0.8096632361412048, 0.2111072838306427, 0.5068703293800354, 0.3890186548233032, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, -0.18586581945419312, 0.24751292169094086, -0.07684081792831421, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.6544935703277588, -0.7953242659568787, 0.2770456075668335, 0.4678480923175812, 0.3413790762424469, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, -0.18586581945419312, 0.24751292169094086, -0.07884687930345535, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.6899921894073486, -0.7916784882545471, 0.33005791902542114, 0.44838058948516846, 0.27887722849845886, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, -0.18617981672286987, 0.24751292169094086, -0.08071339130401611, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.7305843830108643, -0.7908411622047424, 0.42333099246025085, 0.44599074125289917, 0.19113390147686005, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, -0.18617981672286987, 0.23744772374629974, -0.08071339130401611, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.766571283340454, -0.7908411622047424, 0.5127663612365723, 0.44548487663269043, 0.10578041523694992, 0.0, -0.0, 0.1224568784236908, 0.40939322113990784, -0.3853205144405365, -0.15488527715206146, 0.23326116800308228, -0.03476589173078537, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.7906440496444702, -0.7888874411582947, 0.5877407193183899, 0.44548487663269043, 0.05341352894902229, 0.0, -0.0, 0.1224568784236908, 0.4206097424030304, -0.3853205144405365, -0.09686653316020966, 0.23198775947093964, 0.04906997084617615, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.810146450996399, -0.7891317009925842, 0.6288038492202759, 0.4402167797088623, 0.036457959562540054, 0.0, -0.0, 0.1224568784236908, 0.5125396251678467, -0.3853205144405365, -0.018176648765802383, 0.23198775947093964, 0.11171137541532516, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.824276089668274, -0.7891317009925842, 0.6416600942611694, 0.4386119246482849, 0.013623763807117939, 0.0, -0.0, 0.1224568784236908, 0.6776121854782104, -0.40524157881736755, 0.08544071018695831, 0.23818036913871765, 0.12392217665910721, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.8342366218566895, -0.7891317009925842, 0.6440848112106323, 0.4386119246482849, -0.005808852147310972, 0.0, -0.0, 0.1224568784236908, 0.8834688067436218, -0.4835302233695984, 0.19352373480796814, 0.27432435750961304, 0.06998533010482788, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.8341319561004639, -0.7891317009925842, 0.6455675363540649, 0.43651866912841797, -0.012315464206039906, 0.0, -0.0, 0.1224568784236908, 1.1006466150283813, -0.5893978476524353, 0.3098926544189453, 0.3351864516735077, -0.058489732444286346, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.83612060546875, -0.7891317009925842, 0.6502251029014587, 0.4238194227218628, -0.012315464206039906, 0.0, -0.0, 0.1224568784236908, 1.3113352060317993, -0.7045457363128662, 0.45009008049964905, 0.4165801703929901, -0.22710344195365906, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.83612060546875, -0.7891317009925842, 0.6506786346435547, 0.42169126868247986, -0.014286636374890804, 0.0, -0.0, 0.1224568784236908, 1.4781173467636108, -0.8142684698104858, 0.5912294983863831, 0.508614718914032, -0.4087129235267639, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.83612060546875, -0.7891317009925842, 0.6506786346435547, 0.4151846468448639, -0.014286636374890804, 0.0, -0.0, 0.1224568784236908, 1.6151399612426758, -0.9174671769142151, 0.7004987001419067, 0.5812515020370483, -0.5302452445030212, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.83612060546875, -0.7891317009925842, 0.6506786346435547, 0.40670686960220337, -0.014286636374890804, 0.0, -0.0, 0.1294693648815155, 1.7320845127105713, -1.0024718046188354, 0.7358925938606262, 0.630914568901062, -0.5849670767784119, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.83612060546875, -0.7891317009925842, 0.6523706912994385, 0.3993454873561859, -0.014286636374890804, 0.0, -0.0, 0.15804263949394226, 1.817577600479126, -1.068549633026123, 0.7401140332221985, 0.6438406109809875, -0.6045741438865662, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.83612060546875, -0.7891317009925842, 0.6589471101760864, 0.3970254361629486, -0.016205476596951485, 0.0, -0.0, 0.20135609805583954, 1.8855394124984741, -1.1232017278671265, 0.7418235540390015, 0.6648432016372681, -0.6108191013336182, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.83612060546875, -0.7891317009925842, 0.6606566309928894, 0.3930133283138275, -0.018577860668301582, 0.0, -0.0, 0.2378315031528473, 1.9452327489852905, -1.165311574935913, 0.7418235540390015, 0.6901718378067017, -0.6143776774406433, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.83612060546875, -0.7891317009925842, 0.6700589060783386, 0.38898375630378723, -0.04718602076172829, 0.0, -0.0, 0.26964935660362244, 1.9840108156204224, -1.194338321685791, 0.74375981092453, 0.7031327486038208, -0.6167500615119934, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.83612060546875, -0.7891317009925842, 0.6813626289367676, 0.37853479385375977, -0.07087497413158417, 0.0, -0.0, 0.28824466466903687, 2.0050134658813477, -1.223731517791748, 0.74375981092453, 0.7106860280036926, -0.6187386512756348, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.83612060546875, -0.7891317009925842, 0.6909568309783936, 0.3744005858898163, -0.07680593430995941, 0.0, -0.0, 0.29797840118408203, 2.025196075439453, -1.2472460269927979, 0.7480859160423279, 0.7304674983024597, -0.6187386512756348, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.8421911001205444, -0.7913644909858704, 0.6970447897911072, 0.37237706780433655, -0.07863755524158478, 0.0, -0.0, 0.2995658218860626, 2.046477794647217, -1.2662774324417114, 0.7503710985183716, 0.7473009824752808, -0.6187386512756348, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.8537564277648926, -0.8109192252159119, 0.7011441588401794, 0.37070244550704956, -0.08059127628803253, 0.0, -0.0, 0.2995658218860626, 2.054344892501831, -1.2715455293655396, 0.7548193335533142, 0.7544530034065247, -0.6187386512756348, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.8667696714401245, -0.8398239612579346, 0.7057319283485413, 0.37070244550704956, -0.08059127628803253, 0.0, -0.0, 0.2995658218860626, 2.055880069732666, -1.2715455293655396, 0.754871666431427, 0.7581685781478882, -0.6205877661705017, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.8852777481079102, -0.8676819801330566, 0.7124652862548828, 0.37070244550704956, -0.0824403464794159, 0.0, -0.0, 0.2995658218860626, 2.0565779209136963, -1.272818922996521, 0.754871666431427, 0.7608898282051086, -0.6205877661705017, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9018844366073608, -0.8785670399665833, 0.7124652862548828, 0.37009191513061523, -0.0824403464794159, 0.0, -0.0, 0.2995658218860626, 2.0565779209136963, -1.2752784490585327, 0.754871666431427, 0.7645530700683594, -0.6224193572998047, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9064024686813354, -0.8800148963928223, 0.7124652862548828, 0.37009191513061523, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.0565779209136963, -1.2752784490585327, 0.754871666431427, 0.767745316028595, -0.6224193572998047, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9064024686813354, -0.8800148963928223, 0.713791012763977, 0.373685359954834, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.0565779209136963, -1.2752784490585327, 0.754871666431427, 0.7696990370750427, -0.6224193572998047, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9064024686813354, -0.8800148963928223, 0.713791012763977, 0.373685359954834, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.0565779209136963, -1.2752784490585327, 0.754871666431427, 0.7807410955429077, -0.6224193572998047, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9064024686813354, -0.8800148963928223, 0.713791012763977, 0.3760926425457001, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.058304786682129, -1.2752784490585327, 0.754871666431427, 0.7960395216941833, -0.6224193572998047, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9064024686813354, -0.8800148963928223, 0.713791012763977, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.069242238998413, -1.2752784490585327, 0.754871666431427, 0.8158384561538696, -0.6283503174781799, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9131532907485962, -0.8806254267692566, 0.713791012763977, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.0841219425201416, -1.2752784490585327, 0.754871666431427, 0.8279794454574585, -0.6298679709434509, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9196598529815674, -0.8806254267692566, 0.7166343927383423, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.09781551361084, -1.2752784490585327, 0.754871666431427, 0.8344337344169617, -0.6298679709434509, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7163378596305847, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.102595090866089, -1.2752784490585327, 0.754871666431427, 0.8366491198539734, -0.6298679709434509, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7171053886413574, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.1045138835906982, -1.2752784490585327, 0.7636808753013611, 0.8546338677406311, -0.6298679709434509, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7171053886413574, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.1045138835906982, -1.2752784490585327, 0.7736937403678894, 0.8770668506622314, -0.6325892210006714, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7171053886413574, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.1066596508026123, -1.2752784490585327, 0.7777756452560425, 0.8946329951286316, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.1066596508026123, -1.2752784490585327, 0.7796770334243774, 0.8985404372215271, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.1066596508026123, -1.2752784490585327, 0.7796770334243774, 0.9019245505332947, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.1108286380767822, -1.2752784490585327, 0.7796770334243774, 0.9019245505332947, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.1257433891296387, -1.2752784490585327, 0.7796770334243774, 0.9044016003608704, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.140378713607788, -1.276482105255127, 0.781229555606842, 0.912268877029419, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.7838984727859497, 0.9226306080818176, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.7881024479866028, 0.9413654804229736, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.792271614074707, 0.9562451839447021, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.792271614074707, 0.9652811884880066, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.792271614074707, 0.9714389443397522, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.7940857410430908, 0.9806144833564758, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.7940857410430908, 0.9886038303375244, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.7953765988349915, 0.9928950071334839, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.7953765988349915, 1.0049314498901367, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.7978711128234863, 1.0238232612609863, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.7978711128234863, 1.0363829135894775, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.7985863089561462, 1.0425057411193848, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.7985863089561462, 1.0513848066329956, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.80015629529953, 1.0715675354003906, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.80015629529953, 1.0880520343780518, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.80015629529953, 1.101885199546814, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.80015629529953, 1.1170090436935425, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.8008714914321899, 1.1334413290023804, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.8033660054206848, 1.1521761417388916, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.804953396320343, 1.162154197692871, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.804953396320343, 1.1665849685668945, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.142960548400879, -1.276482105255127, 0.804953396320343, 1.16824209690094, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.143448829650879, -1.276482105255127, 0.804953396320343, 1.16824209690094, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.1488914489746094, -1.276482105255127, 0.8099249005317688, 1.1724984645843506, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.1640851497650146, -1.2776334285736084, 0.8273340463638306, 1.179563283920288, -0.6369501948356628, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.1741154193878174, -1.2776334285736084, 0.8313286900520325, 1.188546895980835, -0.6405960321426392, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.174586534500122, -1.2776334285736084, 0.8332650065422058, 1.1947743892669678, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.174586534500122, -1.2776334285736084, 0.835114061832428, 1.1966235637664795, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.178877592086792, -1.2776334285736084, 0.835114061832428, 1.1963269710540771, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.1960251331329346, -1.2776334285736084, 0.835114061832428, 1.1969375610351562, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2079918384552, -1.2776334285736084, 0.8370503187179565, 1.203548789024353, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2776334285736084, 0.839318037033081, 1.2053629159927368, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2776334285736084, 0.839318037033081, 1.2053629159927368, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2776334285736084, 0.839318037033081, 1.2053629159927368, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37794169783592224, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.839318037033081, 1.2074213027954102, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37989541888237, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.839318037033081, 1.2074213027954102, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.37989541888237, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8372596502304077, 1.2074213027954102, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9195551872253418, -0.8806254267692566, 0.7187451124191284, 0.38188403844833374, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8372596502304077, 1.2074213027954102, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.9114786386489868, -0.8806254267692566, 0.7001323699951172, 0.39672890305519104, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8372596502304077, 1.2074213027954102, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.904727816581726, -0.8806254267692566, 0.6772109866142273, 0.4035669267177582, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8372596502304077, 1.2074213027954102, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.058955430984497, 1.8982734680175781, -0.8806254267692566, 0.6478527188301086, 0.42376708984375, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8372596502304077, 1.2074213027954102, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.0653399229049683, 1.88065505027771, -0.8806254267692566, 0.6112203001976013, 0.4393969178199768, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8352187275886536, 1.2074213027954102, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.07123601436615, 1.8377951383590698, -0.8511276245117188, 0.5742564797401428, 0.450386643409729, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8334568738937378, 1.2074213027954102, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.0747946500778198, 1.768001675605774, -0.802441418170929, 0.5190985798835754, 0.4542068839073181, -0.08374864608049393, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8334568738937378, 1.2074213027954102, -0.6423927545547485, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.0747946500778198, 1.672460913658142, -0.7500571012496948, 0.47264519333839417, 0.4840186536312103, -0.09172055125236511, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8334568738937378, 1.2074213027954102, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -1.0417906045913696, 1.586444616317749, -0.7294208407402039, 0.45092740654945374, 0.5239130854606628, -0.17799857258796692, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8334568738937378, 1.2074213027954102, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.9525470733642578, 1.5230530500411987, -0.74684739112854, 0.39829885959625244, 0.5391591787338257, -0.26403239369392395, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8334568738937378, 1.2074213027954102, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.8371375799179077, 1.5124471187591553, -0.812768280506134, 0.23507533967494965, 0.554021418094635, -0.2729288339614868, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8334568738937378, 1.2074213027954102, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7261762619018555, 1.5577143430709839, -0.9124956130981445, 0.03509732708334923, 0.6397935748100281, -0.2134099006652832, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8334568738937378, 1.2074213027954102, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6597321033477783, 1.6428061723709106, -1.0232475996017456, -0.09431970864534378, 0.7665940523147583, -0.1570134460926056, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8334568738937378, 1.2074213027954102, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6429858207702637, 1.7269210815429688, -1.0923607349395752, -0.14574462175369263, 0.8343465328216553, -0.12803895771503448, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8334568738937378, 1.2074213027954102, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6405262351036072, 1.7976914644241333, -1.1247193813323975, -0.20071066915988922, 0.8373643159866333, -0.09578500688076019, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8313984870910645, 1.2074213027954102, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6405262351036072, 1.854506492614746, -1.1334762573242188, -0.2674339711666107, 0.8351489305496216, -0.04917463660240173, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8313984870910645, 1.2074213027954102, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6405262351036072, 1.9035241603851318, -1.1334762573242188, -0.3153700828552246, 0.8351489305496216, -0.01615314371883869, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8313984870910645, 1.2074213027954102, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6405262351036072, 1.9390052556991577, -1.1334762573242188, -0.3266737759113312, 0.820914626121521, -0.00914065632969141, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8294273018836975, 1.207613229751587, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.643927812576294, 1.9589786529541016, -1.1334762573242188, -0.3286275267601013, 0.8077095150947571, -0.006838047876954079, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8294273018836975, 1.207613229751587, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.657673716545105, 1.9743990898132324, -1.1376104354858398, -0.3217894732952118, 0.8003132939338684, 0.0, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8294273018836975, 1.209462285041809, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6755363345146179, 1.9892613887786865, -1.1493852138519287, -0.32337686419487, 0.7989351749420166, 0.0, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8294273018836975, 1.209462285041809, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6771063208580017, 2.0000417232513428, -1.1545137166976929, -0.33393049240112305, 0.8001213669776917, 0.0, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8271944522857666, 1.209462285041809, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6771063208580017, 2.004699468612671, -1.1566418409347534, -0.33393049240112305, 0.8044126033782959, 0.0, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8271944522857666, 1.209462285041809, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6771063208580017, 2.004699468612671, -1.1566418409347534, -0.33393049240112305, 0.8044126033782959, 0.0, 0.0, -0.0, 0.2995658218860626, 2.2102246284484863, -1.2789243459701538, 0.8271944522857666, 1.209462285041809, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6771063208580017, 1.989627718925476, -1.159118890762329, -0.3247723877429962, 0.8044126033782959, 0.0, 0.0, -0.0, 0.29712364077568054, 2.2012410163879395, -1.2789243459701538, 0.8290435671806335, 1.2033568620681763, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6707566976547241, 1.9635838270187378, -1.1862268447875977, -0.24974574148654938, 0.8365444540977478, 0.02911403588950634, 0.0, -0.0, 0.27277183532714844, 2.161189556121826, -1.2789243459701538, 0.8397890329360962, 1.2029207944869995, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6636395454406738, 1.9063152074813843, -1.25277578830719, -0.17843466997146606, 0.9049423933029175, 0.22192256152629852, 0.003599999938160181, -0.003599999938160181, 0.21402043104171753, 2.0912914276123047, -1.2789243459701538, 0.8599194288253784, 1.2010891437530518, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6616858243942261, 1.8583616018295288, -1.3114748001098633, -0.1562633514404297, 0.9788874983787537, 0.4247265160083771, 0.015449999831616879, -0.015449999831616879, 0.13060322403907776, 2.0309176445007324, -1.2789243459701538, 0.8713801503181458, 1.2003041505813599, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6616858243942261, 1.8500583171844482, -1.3245229721069336, -0.15293154120445251, 1.0176305770874023, 0.5886129140853882, 0.026650000363588333, -0.026650000363588333, 0.055995240807533264, 1.9955238103866577, -1.2789243459701538, 0.8917547464370728, 1.2003041505813599, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6747862696647644, 1.8621644973754883, -1.312312126159668, -0.14405255019664764, 1.0249745845794678, 0.6983356475830078, 0.03034999966621399, -0.03034999966621399, -0.0007326480117626488, 1.9910407066345215, -1.2789243459701538, 0.8933770060539246, 1.2003041505813599, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7024698853492737, 1.8881560564041138, -1.2785580158233643, -0.13276627659797668, 0.9938544631004333, 0.7961965203285217, 0.030500000342726707, -0.030500000342726707, -0.026776539161801338, 1.9910407066345215, -1.2789243459701538, 0.8933770060539246, 1.1987866163253784, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7379509806632996, 1.9239859580993652, -1.2509790658950806, -0.11406631767749786, 0.9516050815582275, 0.8436616063117981, 0.030500000342726707, -0.030500000342726707, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8933770060539246, 1.1987866163253784, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7548193335533142, 1.9605834484100342, -1.2439316511154175, -0.1043674498796463, 0.9255437254905701, 0.8632163405418396, 0.030500000342726707, -0.030500000342726707, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8956098556518555, 1.1987866163253784, -0.6442069411277771, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7589884400367737, 1.992907166481018, -1.242256999015808, -0.09287185966968536, 0.9166821837425232, 0.8674901127815247, 0.030500000342726707, -0.030500000342726707, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8999534249305725, 1.1987866163253784, -0.6480271816253662, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7589884400367737, 2.0180091857910156, -1.242256999015808, -0.0887027382850647, 0.9126875400543213, 0.8681879043579102, 0.030500000342726707, -0.030500000342726707, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9059890508651733, 1.1987866163253784, -0.6499285697937012, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7595641016960144, 2.0417678356170654, -1.242256999015808, -0.08920861780643463, 0.889801025390625, 0.8681879043579102, 0.030500000342726707, -0.030500000342726707, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9091638326644897, 1.1987866163253784, -0.6605519652366638, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7595641016960144, 2.0582873821258545, -1.242256999015808, -0.08831897377967834, 0.8678913116455078, 0.8681879043579102, 0.027249999344348907, -0.027249999344348907, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9108035564422607, 1.1987866163253784, -0.6625580191612244, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7595641016960144, 2.0712132453918457, -1.242256999015808, -0.08657456934452057, 0.8636001348495483, 0.8681879043579102, 0.012149999849498272, -0.012149999849498272, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9126177430152893, 1.1987866163253784, -0.6638662815093994, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7595641016960144, 2.07086443901062, -1.242256999015808, -0.0816379189491272, 0.8588902354240417, 0.8633384704589844, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9155657887458801, 1.1987866163253784, -0.6638662815093994, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7554821968078613, 2.0635204315185547, -1.2662774324417114, -0.07176461815834045, 0.9018024802207947, 0.8501682281494141, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9155657887458801, 1.1987866163253784, -0.6638662815093994, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.7239434719085693, 2.0253007411956787, -1.337030291557312, -0.0682234838604927, 1.013670802116394, 0.8293401002883911, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9155657887458801, 1.1987866163253784, -0.6638662815093994, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.6428811550140381, 1.9642990827560425, -1.43693208694458, -0.050884146243333817, 1.1379244327545166, 0.8099249005317688, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9155657887458801, 1.1987866163253784, -0.6638662815093994, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.5006079077720642, 1.9011867046356201, -1.5555163621902466, -0.006367059890180826, 1.188163161277771, 0.8063663244247437, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9155657887458801, 1.2006356716156006, -0.6638662815093994, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.30396169424057007, 1.8742880821228027, -1.676525354385376, 0.007518364116549492, 1.1915647983551025, 0.8500635623931885, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9155657887458801, 1.2046128511428833, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.09749451279640198, 1.8863767385482788, -1.7727464437484741, -0.020653696730732918, 1.1931869983673096, 0.9217758774757385, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9155657887458801, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.04284246265888214, 1.9307193756103516, -1.8265961408615112, -0.04624404385685921, 1.1817437410354614, 1.0008494853973389, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9155657887458801, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1231720820069313, 1.999239444732666, -1.8330329656600952, -0.053169313818216324, 1.1521587371826172, 1.06125807762146, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.9003197550773621, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.16509000957012177, 2.084139347076416, -1.8330329656600952, -0.05737331509590149, 1.124597191810608, 1.0912617444992065, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8915977478027344, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18108616769313812, 2.1552062034606934, -1.8330329656600952, -0.059606149792671204, 1.0644328594207764, 1.0966171026229858, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8915977478027344, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 2.2089338302612305, -1.8330329656600952, -0.05004683509469032, 1.018467903137207, 1.0966171026229858, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8915977478027344, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 2.2528750896453857, -1.8330329656600952, -0.04268546774983406, 1.0136359930038452, 1.0982742309570312, 0.0, -0.0, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8915977478027344, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 2.28458833694458, -1.8330329656600952, -0.04268546774983406, 1.0136359930038452, 1.0982742309570312, 0.0030499999411404133, -0.0030499999411404133, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8915977478027344, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 2.302398681640625, -1.8330329656600952, -0.04268546774983406, 1.0136359930038452, 1.0982742309570312, 0.010250000283122063, -0.010250000283122063, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8896788954734802, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 2.304020881652832, -1.8330329656600952, -0.04268546774983406, 1.011438012123108, 1.0982742309570312, 0.020649999380111694, -0.020649999380111694, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8896788954734802, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 2.304020881652832, -1.8330329656600952, -0.04268546774983406, 1.0064141750335693, 1.0982742309570312, 0.0284000001847744, -0.0284000001847744, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8896788954734802, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 2.304020881652832, -1.8330329656600952, -0.04268546774983406, 1.0064141750335693, 1.0982742309570312, 0.02865000069141388, -0.02865000069141388, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8896788954734802, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 2.292351007461548, -1.8330329656600952, -0.04831987991929054, 1.0064141750335693, 1.0663691759109497, 0.021449999883770943, -0.021449999883770943, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8896788954734802, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 2.248880386352539, -1.8330329656600952, -0.07636982947587967, 1.033522129058838, 0.9007383584976196, 0.00570000009611249, -0.00570000009611249, -0.031748078763484955, 1.9910407066345215, -1.2789243459701538, 0.8896788954734802, 1.2067235708236694, -0.6665701270103455, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 2.173941135406494, -1.8330329656600952, -0.1373366117477417, 1.1188406944274902, 0.6912708282470703, 0.0, -0.0, -0.031748078763484955, 1.9802428483963013, -1.2789243459701538, 0.8778169751167297, 1.2067235708236694, -0.6590866446495056, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 2.0801970958709717, -1.8189730644226074, -0.21129916608333588, 1.1867501735687256, 0.518017053604126, 0.0, -0.0, -0.031748078763484955, 1.919380784034729, -1.2789243459701538, 0.7758393287658691, 1.155717372894287, -0.5776929259300232, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 1.9540942907333374, -1.7357652187347412, -0.2440938949584961, 1.1416923999786377, 0.36780673265457153, 0.0, -0.0, -0.031748078763484955, 1.7830384969711304, -1.2514500617980957, 0.5401883721351624, 0.9971862435340881, -0.3694813549518585, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.18504595756530762, 1.7956678867340088, -1.567762017250061, -0.218224436044693, 1.0028207302093506, 0.2605784833431244, 0.0, -0.0, -0.031748078763484955, 1.5837233066558838, -1.1469953060150146, 0.26966679096221924, 0.7568777203559875, -0.1358364224433899, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.1829526722431183, 1.579519271850586, -1.3010432720184326, -0.19095946848392487, 0.7750717997550964, 0.2384943664073944, 0.0, -0.0, -0.031748078763484955, 1.3524333238601685, -0.9884119033813477, 0.09407549351453781, 0.532338559627533, 0.0, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.15263499319553375, 1.3034156560897827, -1.0238929986953735, -0.18401674926280975, 0.5417757630348206, 0.233784481883049, 0.0, -0.0, -0.031748078763484955, 1.105635643005371, -0.7878233790397644, 0.011582816019654274, 0.35652047395706177, 0.052855320274829865, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.09159844368696213, 1.065409779548645, -0.7693153023719788, -0.18401674926280975, 0.3578462302684784, 0.233784481883049, 0.0, -0.0, -0.031748078763484955, 0.8432255387306213, -0.6164535284042358, -0.02518913522362709, 0.2464488297700882, 0.06576388329267502, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.0133446604013443, 0.8412020206451416, -0.5439736843109131, -0.18401674926280975, 0.24297747015953064, 0.233784481883049, 0.0, -0.0, -0.031748078763484955, 0.6258732676506042, -0.4840709865093231, -0.03680684044957161, 0.20378081500530243, 0.06967133283615112, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.0588386133313179, 0.6592261791229248, -0.38319236040115356, -0.19010470807552338, 0.20428667962551117, 0.233784481883049, 0.0, -0.0, -0.031748078763484955, 0.4646732807159424, -0.38118627667427063, -0.038795456290245056, 0.19429127871990204, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10977508872747421, 0.49778199195861816, -0.28466862440109253, -0.22569046914577484, 0.19399473071098328, 0.23202264308929443, 0.0, -0.0, -0.031748078763484955, 0.343786358833313, -0.32063814997673035, -0.038795456290245056, 0.19429127871990204, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.12966124713420868, 0.37849992513656616, -0.23174354434013367, -0.24817578494548798, 0.19394239783287048, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.26241010427474976, -0.29222187399864197, -0.038795456290245056, 0.19429127871990204, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.13154520094394684, 0.2885935306549072, -0.21361921727657318, -0.2527112364768982, 0.19197121262550354, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.21485774219036102, -0.2918206751346588, -0.038795456290245056, 0.1922328770160675, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.13154520094394684, 0.22616146504878998, -0.21361921727657318, -0.25478705763816833, 0.1844005286693573, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.19033148884773254, -0.2902332842350006, -0.038795456290245056, 0.19003494083881378, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.13154520094394684, 0.18160948157310486, -0.21361921727657318, -0.25478705763816833, 0.18000464141368866, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18426097929477692, -0.2902332842350006, -0.038795456290245056, 0.19003494083881378, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.13154520094394684, 0.1625431925058365, -0.21361921727657318, -0.25478705763816833, 0.1780334711074829, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.13154520094394684, 0.16057202219963074, -0.21361921727657318, -0.2568280100822449, 0.1780334711074829, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.13154520094394684, 0.16057202219963074, -0.21361921727657318, -0.2568280100822449, 0.1780334711074829, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.13154520094394684, 0.16057202219963074, -0.21361921727657318, -0.2568280100822449, 0.1780334711074829, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.13154520094394684, 0.14499452710151672, -0.20761848986148834, -0.2568280100822449, 0.1780334711074829, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.10145430266857147, 0.1278470754623413, -0.2023678421974182, -0.2568280100822449, 0.18030118942260742, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, -0.037312716245651245, 0.11748533695936203, -0.2023678421974182, -0.2589038610458374, 0.18030118942260742, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.003331803949549794, 0.0855628177523613, -0.1812780499458313, -0.2589038610458374, 0.17846956849098206, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.009297652170062065, 0.036300964653491974, -0.13445834815502167, -0.2589038610458374, 0.17846956849098206, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0086347796022892, -0.08636524528265, -0.2606656849384308, 0.17846956849098206, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0046575479209423065, -0.04055729880928993, -0.2651139199733734, 0.17635883390903473, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004483107943087816, -0.2669106423854828, 0.16256064176559448, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.2669106423854828, 0.16427014768123627, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.2669106423854828, 0.1624385267496109, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.2669106423854828, 0.14487242698669434, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.25155991315841675, 0.11959606409072876, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.22809773683547974, 0.11425819993019104, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.17053253948688507, 0.10757714509963989, 0.23195286095142365, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.09121467918157578, 0.08066105842590332, 0.23005147278308868, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.044464755803346634, 0.05766986310482025, 0.21749179065227509, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.029933903366327286, 0.05063993111252785, 0.14450609683990479, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.019973380491137505, 0.05063993111252785, 0.08053895086050034, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.016188032925128937, 0.05063993111252785, 0.06161220744252205, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.01369354035705328, 0.05063993111252785, 0.05712909996509552, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.01369354035705328, 0.056623224169015884, 0.05377985164523125, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.01369354035705328, 0.06583365797996521, 0.049628179520368576, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.01369354035705328, 0.06787460297346115, 0.049628179520368576, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.01369354035705328, 0.06787460297346115, 0.049628179520368576, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.01369354035705328, 0.06787460297346115, 0.044935744255781174, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.01369354035705328, 0.06787460297346115, 0.04094106703996658, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.012960892170667648, 0.06787460297346115, 0.03703361377120018, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.009210431948304176, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.007343924138695002, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, -0.0054774158634245396, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2902332842350006, -0.038795456290245056, 0.18849986791610718, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.18181881308555603, -0.2724055051803589, -0.028206948190927505, 0.1640782654285431, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.1686485856771469, -0.21925362944602966, -0.026322996243834496, 0.09220898151397705, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.12461993843317032, -0.15191979706287384, -0.008652224205434322, 0.0360741913318634, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.031748078763484955, 0.06970622390508652, -0.08435918390750885, 0.006698496174067259, 0.01639736071228981, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, -0.013309772126376629, 0.02339240349829197, -0.03884778916835785, 0.015054171904921532, 0.014513407833874226, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.016746239736676216, 0.007780023850500584, -0.010536176152527332, 0.015682155266404152, 0.012995780445635319, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03160852938890457, 0.005390196107327938, -0.0035062439274042845, 0.01758355274796486, 0.012995780445635319, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.01976405270397663, 0.012995780445635319, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.01976405270397663, 0.012995780445635319, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.01976405270397663, 0.012995780445635319, 0.07193905860185623, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.05125047266483307, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.04439498111605644, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.03907455876469612, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.025049583986401558, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.020810691639780998, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.013274883851408958, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.013274883851408958, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.011390931904315948, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.011390931904315948, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.0219794400036335, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.019955936819314957, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.017914988100528717, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.017914988100528717, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.017914988100528717, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.035585761070251465, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04031308367848396, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.042493585497140884, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.042493585497140884, 0.012995780445635319, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.010414067655801773, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0, 0.0, 0.0, 0.0, 0.01102460827678442, 0.0032620280981063843, -0.004343555774539709, 0.0, 0.06787460297346115, 0.03507988527417183, 0.0, -0.0, 0.03171319141983986, 0.005390196107327938, -0.0035062439274042845, 0.04423798248171806, 0.008373119868338108, 0.009506979957222939, 0.0, -0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000000/meta.json b/rc-table30-v2__rc-dos-w1/000000/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28d695ba69c596a8bf8e68bb447ef76cf5bf225f
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000000/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Put the blue bowl into the beige bowl, and put the green bowl into the blue bowl.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 3781,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000000/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000000/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a2d5fb2a494a13588a330c9c8cd345460b4d8507
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000000/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000000/temporal.json b/rc-table30-v2__rc-dos-w1/000000/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e325aec32395fba67748da1b7a4fd277080aff0
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000000/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.5012969970703125, 0.071908138692379, -1.568818211555481, -9.758010128280148e-05, 9.758010128280148e-05, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.724460244178772, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.5012969970703125, 0.071908138692379, -1.5684367418289185, -9.758010128280148e-05, 9.758010128280148e-05, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.7271305322647095, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.5012969970703125, 0.071908138692379, -1.568818211555481, -9.758010128280148e-05, 9.758010128280148e-05, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.7271305322647095, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.5012969970703125, 0.071908138692379, -1.568818211555481, -9.758010128280148e-05, 9.758010128280148e-05, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.7271305322647095, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.5012969970703125, 0.071908138692379, -1.5684367418289185, -9.758010128280148e-05, 9.758010128280148e-05, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.726749062538147, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.5012969970703125, 0.071908138692379, -1.5684367418289185, -9.758010128280148e-05, 9.758010128280148e-05, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.726749062538147, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.50091552734375, 0.071908138692379, -1.5684367418289185, -9.758010128280148e-05, 9.758010128280148e-05, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.7263675928115845, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.50091552734375, 0.071908138692379, -1.5684367418289185, -9.758010128280148e-05, 9.758010128280148e-05, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.7256046533584595, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.50091552734375, 0.071908138692379, -1.5684367418289185, -9.758010128280148e-05, 9.758010128280148e-05, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.7233158349990845, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.50091552734375, 0.071908138692379, -1.5684367418289185, -9.758010128280148e-05, 9.758010128280148e-05, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.723697304725647, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.50091552734375, 0.071908138692379, -1.568818211555481, -9.758010128280148e-05, 9.758010128280148e-05, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.723697304725647, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.5012969970703125, 0.071908138692379, -1.5684367418289185, -0.0010035228915512562, 0.0010035228915512562, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.723697304725647, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.50091552734375, 0.071908138692379, -1.5684367418289185, -0.02177479863166809, 0.02177479863166809, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.7240787744522095, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.5005340576171875, 0.071908138692379, -1.5691996812820435, -0.034, 0.034, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.724460244178772, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.50091552734375, 0.071908138692379, -1.5691996812820435, -0.034, 0.034, 0.8127336502075195, -0.037193864583969116, 0.013923857361078262, -1.6004806756973267, -0.07267109304666519, 1.727512001991272, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.5020599365234375, 0.071908138692379, -1.5691996812820435, -0.034, 0.034, 0.8119707107543945, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.727512001991272, -0.015873007476329803, 0.015873007476329803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.50244140625, 0.071908138692379, -1.5691996812820435, -0.034, 0.034, 0.810826301574707, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.727512001991272, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.051689937710762024, 1.50244140625, 0.071908138692379, -1.568818211555481, -0.034, 0.034, 0.810826301574707, -0.037193864583969116, 0.013923857361078262, -1.6008621454238892, -0.07267109304666519, 1.727512001991272, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.057793546468019485, 1.50244140625, 0.06618601083755493, -1.5691996812820435, -0.034, 0.034, 0.810826301574707, -0.037193864583969116, 0.01506828423589468, -1.6008621454238892, -0.07267109304666519, 1.727512001991272, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.16956588625907898, 0.08907453715801239, 1.507400631904602, 0.04177157208323479, -1.568818211555481, -0.034, 0.034, 0.810826301574707, -0.03757534176111221, 0.03147173300385475, -1.6008621454238892, -0.071908138692379, 1.727512001991272, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.16956588625907898, 0.1504921019077301, 1.5188448429107666, -0.013160906732082367, -1.568818211555481, -0.034, 0.034, 0.8081559538841248, -0.03757534176111221, 0.07267109304666519, -1.6008621454238892, -0.05207141116261482, 1.727512001991272, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.1817730963230133, 0.23403525352478027, 1.5257114171981812, -0.1188296303153038, -1.568818211555481, -0.034, 0.034, 0.7837415337562561, -0.03795681521296501, 0.14095520973205566, -1.6008621454238892, 0.04558632895350456, 1.728274941444397, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7776378989219666, -0.21763180196285248, 0.32978561520576477, 1.5173189640045166, -0.2752346098423004, -1.5722514390945435, -0.034, 0.034, 0.7337682247161865, -0.03833829239010811, 0.2141985148191452, -1.6004806756973267, 0.17719538509845734, 1.7713817358016968, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6868467330932617, -0.2782863974571228, 0.42896926403045654, 1.4780269861221313, -0.4674982726573944, -1.577592134475708, -0.034, 0.034, 0.6761654019355774, -0.05703059583902359, 0.28248265385627747, -1.6004806756973267, 0.31452658772468567, 1.8308918476104736, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5525673031806946, -0.3542000353336334, 0.5148012638092041, 1.4173723459243774, -0.6692988276481628, -1.5642404556274414, -0.034, 0.034, 0.6319142580032349, -0.12417028844356537, 0.3595407009124756, -1.6000992059707642, 0.4716945290565491, 1.881628155708313, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39768826961517334, -0.42896926403045654, 0.5750743746757507, 1.3483253717422485, -0.841725766658783, -1.5302891731262207, -0.034, 0.034, 0.6197070479393005, -0.22335393726825714, 0.43163958191871643, -1.6004806756973267, 0.6109330654144287, 1.9129091501235962, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2569237947463989, -0.5186160206794739, 0.6174181699752808, 1.3002593517303467, -0.9790570139884949, -1.5012969970703125, -0.034, 0.034, 0.6338216066360474, -0.33321890234947205, 0.49382010102272034, -1.6008621454238892, 0.7177462577819824, 1.9373235702514648, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1684214472770691, -0.6231403350830078, 0.6525139212608337, 1.2922483682632446, -1.0877774953842163, -1.4917601346969604, -0.034, 0.034, 0.6624323129653931, -0.44232088327407837, 0.5514228940010071, -1.6000992059707642, 0.8073930144309998, 1.949149250984192, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12226291000843048, -0.7280460596084595, 0.6769283413887024, 1.3254368305206299, -1.1652170419692993, -1.4997711181640625, -0.034, 0.034, 0.6849393248558044, -0.5445563197135925, 0.6010147333145142, -1.5978103876113892, 0.8855955004692078, 1.956397294998169, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09670405089855194, -0.8146410584449768, 0.6921873688697815, 1.3544288873672485, -1.2079423666000366, -1.515411615371704, -0.034, 0.034, 0.7032501697540283, -0.6246662139892578, 0.6364919543266296, -1.5978103876113892, 0.9348058104515076, 1.960593581199646, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08602273464202881, -0.8726252913475037, 0.7040131092071533, 1.3807507753372192, -1.2167162895202637, -1.5241855382919312, -0.034, 0.034, 0.7173647880554199, -0.6780728101730347, 0.6578545570373535, -1.5989547967910767, 0.9641794562339783, 1.9640268087387085, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08030059933662415, -0.9012359976768494, 0.7093538045883179, 1.4158464670181274, -1.2159533500671387, -1.5386816263198853, -0.034, 0.034, 0.7227054238319397, -0.7082093358039856, 0.6692988276481628, -1.6004806756973267, 0.9809643626213074, 1.9689860343933105, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07572289556264877, -0.9225986003875732, 0.7089722752571106, 1.4456015825271606, -1.2109941244125366, -1.5444037914276123, -0.034, 0.034, 0.7204165458679199, -0.724612832069397, 0.6746395230293274, -1.6000992059707642, 0.9920271635055542, 1.9754711389541626, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07305257022380829, -0.9412909150123596, 0.7013428211212158, 1.4707789421081543, -1.206416368484497, -1.5516518354415894, -0.034, 0.034, 0.7089722752571106, -0.734149694442749, 0.6776912808418274, -1.6004806756973267, 0.995841920375824, 1.9819562435150146, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0722896158695221, -0.9618905782699585, 0.6914244294166565, 1.4745937585830688, -1.19459068775177, -1.5562294721603394, -0.034, 0.034, 0.6960021257400513, -0.7391088604927063, 0.6795986890792847, -1.6004806756973267, 0.9992752075195312, 1.9823377132415771, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0707637146115303, -0.9779125452041626, 0.6830319762229919, 1.481841802597046, -1.1751353740692139, -1.5604257583618164, -0.034, 0.034, 0.6845578551292419, -0.7417792081832886, 0.6803616285324097, -1.6004806756973267, 1.0015640258789062, 1.9823377132415771, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0707637146115303, -0.9893568158149719, 0.6776912808418274, 1.4806973934173584, -1.1545357704162598, -1.566529393196106, -0.034, 0.034, 0.6734950542449951, -0.7440680265426636, 0.6803616285324097, -1.6000992059707642, 1.0023269653320312, 1.9869153499603271, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0707637146115303, -0.9954604506492615, 0.6727321147918701, 1.4814603328704834, -1.1392767429351807, -1.568818211555481, -0.034, 0.034, 0.6666285395622253, -0.7459754347801208, 0.6803616285324097, -1.6004806756973267, 1.0027084350585938, 1.9911116361618042, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0707637146115303, -0.9988937377929688, 0.6677729487419128, 1.4814603328704834, -1.1293584108352661, -1.574158787727356, -0.03195589780807495, 0.03195589780807495, 0.6586175560951233, -0.7475013136863708, 0.6803616285324097, -1.6004806756973267, 1.0027084350585938, 1.9995040893554688, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0707637146115303, -1.0030899047851562, 0.6647211313247681, 1.4814603328704834, -1.122110366821289, -1.574540376663208, -0.023606322705745697, 0.023606322705745697, 0.6528953909873962, -0.7490272521972656, 0.6803616285324097, -1.6004806756973267, 1.0027084350585938, 2.0006484985351562, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0707637146115303, -1.0076676607131958, 0.6635767221450806, 1.4772640466690063, -1.117914080619812, -1.5756847858428955, -0.00584361283108592, 0.00584361283108592, 0.6498435735702515, -0.7497901916503906, 0.6803616285324097, -1.6004806756973267, 1.0023269653320312, 2.0006484985351562, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0711451917886734, -1.0107194185256958, 0.6658655405044556, 1.4631494283676147, -1.103417992591858, -1.5772106647491455, -0.0013272898504510522, 0.0013272898504510522, 0.6498435735702515, -0.7501716613769531, 0.6807430982589722, -1.6004806756973267, 0.9981307983398438, 2.0010299682617188, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0707637146115303, -1.0126268863677979, 0.6750209927558899, 1.4715418815612793, -1.1137179136276245, -1.5817883014678955, -0.0013272898504510522, 0.0013272898504510522, 0.6498435735702515, -0.7501716613769531, 0.6815060377120972, -1.6004806756973267, 0.9935530424118042, 2.0071334838867188, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0722896158695221, -1.0133898258209229, 0.7043945789337158, 1.4993896484375, -1.1297398805618286, -1.58865487575531, -0.0013272898504510522, 0.0013272898504510522, 0.6536583304405212, -0.7501716613769531, 0.692568838596344, -1.6004806756973267, 0.9908827543258667, 2.0136187076568604, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10013733059167862, -0.9988937377929688, 0.7543678879737854, 1.5272372961044312, -1.1411840915679932, -1.6111619472503662, -0.0013272898504510522, 0.0013272898504510522, 0.6666285395622253, -0.7501716613769531, 0.7265201807022095, -1.6004806756973267, 0.9897382855415344, 2.0235371589660645, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17299915850162506, -0.9657053351402283, 0.8096818327903748, 1.58255136013031, -1.1495765447616577, -1.6577019691467285, -0.0013272898504510522, 0.0013272898504510522, 0.6795986890792847, -0.7524605393409729, 0.7749675512313843, -1.5989547967910767, 0.9878309369087219, 2.0357441902160645, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.31376364827156067, -0.9218356609344482, 0.8604180812835693, 1.6962310075759888, -1.1530098915100098, -1.7500190734863281, -0.0013272898504510522, 0.0013272898504510522, 0.6956206560134888, -0.7589455842971802, 0.8237964510917664, -1.6004806756973267, 0.9874494671821594, 2.0548181533813477, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5022125840187073, -0.892080545425415, 0.9081025123596191, 1.8427176475524902, -1.1640726327896118, -1.8865872621536255, -0.0013272898504510522, 0.0013272898504510522, 0.7234683632850647, -0.778782308101654, 0.8661402463912964, -1.6004806756973267, 0.9874494671821594, 2.069695472717285, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -0.8947508931159973, 0.9573128819465637, 1.9876782894134521, -1.19459068775177, -2.026207447052002, -0.0013272898504510522, 0.0013272898504510522, 0.767719566822052, -0.8207446336746216, 0.9111543297767639, -1.6000992059707642, 0.9874494671821594, 2.0799953937530518, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8192187547683716, -0.9195467829704285, 0.994316041469574, 2.090676784515381, -1.2182421684265137, -2.1520943641662598, -0.0013272898504510522, 0.0013272898504510522, 0.8142595291137695, -0.8745326995849609, 0.9561684727668762, -1.6000992059707642, 0.9863049983978271, 2.086862087249756, -0.033927951008081436, 0.033927951008081436], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8947508931159973, -0.9431982636451721, 1.0160601139068604, 2.1540017127990723, -1.2212939262390137, -2.253185272216797, -0.0013272898504510522, 0.0013272898504510522, 0.8512626886367798, -0.9294651746749878, 0.9916456937789917, -1.5997177362442017, 0.9763866662979126, 2.087625026702881, -0.03368896245956421, 0.03368896245956421], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9370946884155273, -0.9618905782699585, 1.0282673835754395, 2.1692607402801514, -1.2197680473327637, -2.323758363723755, -0.0013272898504510522, 0.0013272898504510522, 0.8741512298583984, -0.9721904397010803, 1.0114823579788208, -1.5981918573379517, 0.9531166553497314, 2.091439723968506, -0.03316166251897812, 0.03316166251897812], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9531166553497314, -0.9721904397010803, 1.031700611114502, 2.168879270553589, -1.2170977592468262, -2.3729686737060547, -0.0013272898504510522, 0.0013272898504510522, 0.8836880922317505, -1.0011825561523438, 1.0217822790145874, -1.5997177362442017, 0.9260318875312805, 2.0948729515075684, -0.03316166251897812, 0.03316166251897812], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9618905782699585, -0.9775310754776001, 1.0313191413879395, 2.1562905311584473, -1.2167162895202637, -2.4160754680633545, -0.0013272898504510522, 0.0013272898504510522, 0.8848325610160828, -1.0183489322662354, 1.0271228551864624, -1.5997177362442017, 0.9042877554893494, 2.1040284633636475, -0.032628338783979416, 0.032628338783979416], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.967994213104248, -0.9805828928947449, 1.025978446006775, 2.138742685317993, -1.2151904106140137, -2.4595634937286377, -0.0013272898504510522, 0.0013272898504510522, 0.8787289261817932, -1.027885913848877, 1.030174732208252, -1.6004806756973267, 0.881780743598938, 2.130350112915039, -0.031480055302381516, 0.031480055302381516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9683756828308105, -0.9824903011322021, 1.021400809288025, 2.126535415649414, -1.2144273519515991, -2.490081548690796, -0.0013272898504510522, 0.0013272898504510522, 0.8733882904052734, -1.033989429473877, 1.0305562019348145, -1.6004806756973267, 0.8516441583633423, 2.165064573287964, -0.03039686754345894, 0.03039686754345894], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9710460305213928, -0.9832532405853271, 1.0172045230865479, 2.10898756980896, -1.2121385335922241, -2.5110628604888916, -0.0013272898504510522, 0.0013272898504510522, 0.8665217161178589, -1.040474534034729, 1.0305562019348145, -1.6000992059707642, 0.8218890428543091, 2.1898603439331055, -0.02963276393711567, 0.02963276393711567], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9725719094276428, -0.9832532405853271, 1.0156786441802979, 2.100594997406006, -1.2090867757797241, -2.5240330696105957, -0.0013272898504510522, 0.0013272898504510522, 0.8546959757804871, -1.049248456954956, 1.0305562019348145, -1.6004806756973267, 0.8039597272872925, 2.200923204421997, -0.02914823591709137, 0.02914823591709137], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9725719094276428, -0.9832532405853271, 1.0149157047271729, 2.0910582542419434, -1.2087053060531616, -2.532806873321533, -0.0013272898504510522, 0.0013272898504510522, 0.8451590538024902, -1.0584038496017456, 1.0305562019348145, -1.6004806756973267, 0.7917525172233582, 2.210841417312622, -0.026240887120366096, 0.026240887120366096], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9748607873916626, -0.9828717708587646, 1.0141527652740479, 2.0838100910186768, -1.2087053060531616, -2.5396735668182373, -0.0013272898504510522, 0.0013272898504510522, 0.8348592519760132, -1.0683223009109497, 1.0305562019348145, -1.6004806756973267, 0.7864118218421936, 2.2142748832702637, -0.02580317296087742, 0.02580317296087742], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9748607873916626, -0.9821087718009949, 1.0130083560943604, 2.0784695148468018, -1.2083238363265991, -2.543869733810425, -0.0013272898504510522, 0.0013272898504510522, 0.8268482685089111, -1.0793850421905518, 1.0297932624816895, -1.6004806756973267, 0.7841230034828186, 2.2142748832702637, -0.02081877738237381, 0.02081877738237381], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9748607873916626, -0.9821087718009949, 1.0118639469146729, 2.0746548175811768, -1.2083238363265991, -2.546921491622925, -0.0013272898504510522, 0.0013272898504510522, 0.8234149813652039, -1.0896848440170288, 1.0297932624816895, -1.6004806756973267, 0.7795453071594238, 2.2142748832702637, -0.015010183677077293, 0.015010183677077293], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9748607873916626, -0.9817273020744324, 1.0118639469146729, 2.0708401203155518, -1.206416368484497, -2.54768443107605, -0.0013272898504510522, 0.0013272898504510522, 0.8218890428543091, -1.098077416419983, 1.0297932624816895, -1.6004806756973267, 0.7784008383750916, 2.213893413543701, -0.00845244899392128, 0.00845244899392128], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9752422571182251, -0.9813458323478699, 1.0122454166412354, 2.063591957092285, -1.1919203996658325, -2.54768443107605, -0.0026306926738470793, 0.0026306926738470793, 0.8203631639480591, -1.1037994623184204, 1.0290303230285645, -1.6050583124160767, 0.7795453071594238, 2.210841417312622, -0.0015855558449402452, 0.0015855558449402452], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9748607873916626, -0.9817273020744324, 1.0122454166412354, 2.063591957092285, -1.1919203996658325, -2.5450141429901123, -0.011133447289466858, 0.011133447289466858, 0.8180742859840393, -1.1045624017715454, 1.029411792755127, -1.6000992059707642, 0.7768749594688416, 2.202449083328247, -0.0014469509478658438, 0.0014469509478658438], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9733348488807678, -0.9813458323478699, 1.0172045230865479, 2.057488441467285, -1.182383418083191, -2.530518054962158, -0.020053941756486893, 0.020053941756486893, 0.8165484070777893, -1.1064698696136475, 1.0290303230285645, -1.6008621454238892, 0.7776378989219666, 2.198634386062622, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9748607873916626, -0.9809643626213074, 1.030937671661377, 2.052147626876831, -1.1747539043426514, -2.5030517578125, -0.02736675553023815, 0.02736675553023815, 0.810826301574707, -1.10685133934021, 1.0282673835754395, -1.6008621454238892, 0.778019368648529, 2.191004753112793, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9737163186073303, -0.9782940149307251, 1.0530632734298706, 2.048332929611206, -1.1732280254364014, -2.459182024002075, -0.032570987939834595, 0.032570987939834595, 0.7997635006904602, -1.1072328090667725, 1.0282673835754395, -1.5993362665176392, 0.7845044732093811, 2.1829938888549805, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9630350470542908, -0.9710460305213928, 1.0873960256576538, 2.023918628692627, -1.1675058603286743, -2.399672031402588, -0.032969288527965546, 0.032969288527965546, 0.7742046117782593, -1.1072328090667725, 1.0282673835754395, -1.6004806756973267, 0.7974746227264404, 2.1662089824676514, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.925650417804718, -0.9603646993637085, 1.1320286989212036, 1.960593581199646, -1.1678873300552368, -2.3081178665161133, -0.03327304124832153, 0.03327304124832153, 0.7402533292770386, -1.10837721824646, 1.037422776222229, -1.6000992059707642, 0.8222705721855164, 2.138742685317993, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8710994124412537, -0.9466315507888794, 1.1751353740692139, 1.8663691282272339, -1.1839094161987305, -2.200923204421997, -0.03327304124832153, 0.03327304124832153, 0.6986724734306335, -1.1232547760009766, 1.0744259357452393, -1.6004806756973267, 0.8638513684272766, 2.0963988304138184, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.927176296710968, 1.2006943225860596, 1.7996108531951904, -1.2094682455062866, -2.099832057952881, -0.03327304124832153, 0.03327304124832153, 0.6509880423545837, -1.1690318584442139, 1.1533913612365723, -1.584840178489685, 0.9355688095092773, 2.0181963443756104, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7719157934188843, -0.9050507545471191, 1.2006943225860596, 1.7591744661331177, -1.2254902124404907, -2.0250630378723145, -0.03327304124832153, 0.03327304124832153, 0.5895704627037048, -1.2468528747558594, 1.2563897371292114, -1.4795528650283813, 1.034752368927002, 1.9003204107284546, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7330052852630615, -0.8871213793754578, 1.188105583190918, 1.7313268184661865, -1.2376973628997803, -1.9712748527526855, -0.03327304124832153, 0.03327304124832153, 0.5449378490447998, -1.3361181020736694, 1.3685435056686401, -1.3994430303573608, 1.1278324127197266, 1.8125810623168945, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7009612917900085, -0.8741512298583984, 1.1686503887176514, 1.7145417928695679, -1.2464714050292969, -1.9327458143234253, -0.03327304124832153, 0.03327304124832153, 0.5205233693122864, -1.429961085319519, 1.4780269861221313, -1.3513771295547485, 1.2071794271469116, 1.7603188753128052, -0.0013683271827176213, 0.0013683271827176213], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6830319762229919, -0.8676661252975464, 1.1495765447616577, 1.7046234607696533, -1.2510490417480469, -1.9106203317642212, -0.03327304124832153, 0.03327304124832153, 0.508316159248352, -1.5108338594436646, 1.5691996812820435, -1.3258183002471924, 1.2571526765823364, 1.732471227645874, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6708247661590576, -0.8642328381538391, 1.1297398805618286, 1.6973754167556763, -1.2521934509277344, -1.8980315923690796, -0.03326510637998581, 0.03326510637998581, 0.506027340888977, -1.576829195022583, 1.6344319581985474, -1.3109407424926758, 1.2865263223648071, 1.7183566093444824, -0.0013683271827176213, 0.0013683271827176213], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6654840707778931, -0.8619440197944641, 1.113336443901062, 1.6939421892166138, -1.2495231628417969, -1.8907835483551025, -0.03326510637998581, 0.03326510637998581, 0.5121309161186218, -1.6298543214797974, 1.6721980571746826, -1.3002593517303467, 1.3010224103927612, 1.7107270956039429, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6624323129653931, -0.8607995510101318, 1.099603295326233, 1.6901273727416992, -1.2426565885543823, -1.88735032081604, -0.03326510637998581, 0.03326510637998581, 0.5266270041465759, -1.6683833599090576, 1.6924163103103638, -1.3170443773269653, 1.3010224103927612, 1.7107270956039429, -0.0013683271827176213, 0.0013683271827176213], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6589990258216858, -0.8607995510101318, 1.0896848440170288, 1.6897459030151367, -1.2376973628997803, -1.88735032081604, -0.03327304124832153, 0.03327304124832153, 0.5399786233901978, -1.6969939470291138, 1.7046234607696533, -1.3441290855407715, 1.2827115058898926, 1.7114900350570679, -0.0013683271827176213, 0.0013683271827176213], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6548027992248535, -0.8607995510101318, 1.0835813283920288, 1.6897459030151367, -1.2315938472747803, -1.88735032081604, -0.03326510637998581, 0.03326510637998581, 0.5449378490447998, -1.7221713066101074, 1.7130159139633179, -1.359769582748413, 1.269741415977478, 1.7122529745101929, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.649462103843689, -0.8607995510101318, 1.0790035724639893, 1.6863126754760742, -1.2273975610733032, -1.88735032081604, -0.03326510637998581, 0.03326510637998581, 0.5445563197135925, -1.740482211112976, 1.717212200164795, -1.3696879148483276, 1.259060025215149, 1.7175936698913574, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6448844075202942, -0.8607995510101318, 1.0740443468093872, 1.6863126754760742, -1.2232013940811157, -1.88735032081604, -0.03326510637998581, 0.03326510637998581, 0.5430304408073425, -1.7545968294143677, 1.71950101852417, -1.3754100799560547, 1.2460898160934448, 1.718738079071045, -0.0013683271827176213, 0.0013683271827176213], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6406881809234619, -0.8607995510101318, 1.0709925889968872, 1.6863126754760742, -1.2193865776062012, -1.88735032081604, -0.03326510637998581, 0.03326510637998581, 0.5430304408073425, -1.7626078128814697, 1.7206454277038574, -1.3773174285888672, 1.2293049097061157, 1.718738079071045, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6372548937797546, -0.8607995510101318, 1.0679408311843872, 1.6866941452026367, -1.2182421684265137, -1.8877317905426025, -0.03326510637998581, 0.03326510637998581, 0.5453193187713623, -1.7683298587799072, 1.72102689743042, -1.3796063661575317, 1.2155718803405762, 1.71950101852417, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6330586671829224, -0.8607995510101318, 1.0664149522781372, 1.6863126754760742, -1.2159533500671387, -1.8884947299957275, -0.03326510637998581, 0.03326510637998581, 0.5495155453681946, -1.7725261449813843, 1.7214083671569824, -1.3803693056106567, 1.2113755941390991, 1.7214083671569824, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6315327882766724, -0.8607995510101318, 1.0637445449829102, 1.6859312057495117, -1.2151904106140137, -1.8915464878082275, -0.03326510637998581, 0.03326510637998581, 0.5521858334541321, -1.7755779027938843, 1.7214083671569824, -1.3799878358840942, 1.2052719593048096, 1.722934365272522, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6303883194923401, -0.8607995510101318, 1.0606927871704102, 1.6863126754760742, -1.2140458822250366, -1.8923094272613525, -0.03326510637998581, 0.03326510637998581, 0.5537117719650269, -1.7786297798156738, 1.7214083671569824, -1.3807507753372192, 1.204127550125122, 1.722934365272522, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6300068497657776, -0.8607995510101318, 1.0584038496017456, 1.6859312057495117, -1.2132829427719116, -1.895361304283142, -0.03326510637998581, 0.03326510637998581, 0.5556191205978394, -1.7816815376281738, 1.7214083671569824, -1.3834210634231567, 1.2029831409454346, 1.72255277633667, -0.0013724438613280654, 0.0013724438613280654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6277180314064026, -0.8607995510101318, 1.057259440422058, 1.6859312057495117, -1.2132829427719116, -1.895361304283142, -0.033257171511650085, 0.033257171511650085, 0.5582894682884216, -1.7835888862609863, 1.7214083671569824, -1.3834210634231567, 1.1999313831329346, 1.72255277633667, -0.0013683271827176213, 0.0013683271827176213], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6261920928955078, -0.8607995510101318, 1.0561150312423706, 1.6863126754760742, -1.2132829427719116, -1.895361304283142, -0.033257171511650085, 0.033257171511650085, 0.5601968169212341, -1.7847332954406738, 1.7214083671569824, -1.3822766542434692, 1.1999313831329346, 1.7221713066101074, -0.0025539740454405546, 0.0025539740454405546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6261920928955078, -0.8607995510101318, 1.054970622062683, 1.6859312057495117, -1.2140458822250366, -1.8949798345565796, -0.033257171511650085, 0.033257171511650085, 0.5621042251586914, -1.7854963541030884, 1.7214083671569824, -1.3811322450637817, 1.1999313831329346, 1.7191195487976074, -0.006724764592945576, 0.006724764592945576], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6242847442626953, -0.8607995510101318, 1.0530632734298706, 1.6859312057495117, -1.2148088216781616, -1.8949798345565796, -0.033257171511650085, 0.033257171511650085, 0.5628671646118164, -1.7854963541030884, 1.7214083671569824, -1.3799878358840942, 1.199549913406372, 1.7191195487976074, -0.010489794425666332, 0.010489794425666332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6197070479393005, -0.8607995510101318, 1.051155924797058, 1.6855497360229492, -1.2144273519515991, -1.8949798345565796, -0.033257171511650085, 0.033257171511650085, 0.5640115737915039, -1.7854963541030884, 1.7214083671569824, -1.3822766542434692, 1.1999313831329346, 1.7191195487976074, -0.013907619751989841, 0.013907619751989841], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6185625791549683, -0.8607995510101318, 1.0488669872283936, 1.6859312057495117, -1.2132829427719116, -1.8949798345565796, -0.033257171511650085, 0.033257171511650085, 0.5628671646118164, -1.7854963541030884, 1.7233158349990845, -1.3822766542434692, 1.1999313831329346, 1.718738079071045, -0.015000885352492332, 0.015000885352492332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6166552305221558, -0.8607995510101318, 1.046196699142456, 1.6855497360229492, -1.2132829427719116, -1.8949798345565796, -0.033257171511650085, 0.033257171511650085, 0.5582894682884216, -1.7854963541030884, 1.733234167098999, -1.3811322450637817, 1.200312852859497, 1.718738079071045, -0.015996048226952553, 0.015996048226952553], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6147478222846985, -0.8607995510101318, 1.042763352394104, 1.6859312057495117, -1.2132829427719116, -1.8949798345565796, -0.033257171511650085, 0.033257171511650085, 0.5556191205978394, -1.7832074165344238, 1.7622263431549072, -1.3830395936965942, 1.2087053060531616, 1.718738079071045, -0.016100365668535233, 0.016100365668535233], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6124590039253235, -0.8607995510101318, 1.0393301248550415, 1.6859312057495117, -1.2117570638656616, -1.8949798345565796, -0.033257171511650085, 0.033257171511650085, 0.5552376508712769, -1.7828259468078613, 1.8118181228637695, -1.3834210634231567, 1.2373158931732178, 1.718738079071045, -0.016874033957719803, 0.016874033957719803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6116960644721985, -0.8607995510101318, 1.0370413064956665, 1.6859312057495117, -1.2083238363265991, -1.8949798345565796, -0.033257171511650085, 0.033257171511650085, 0.5521858334541321, -1.7816815376281738, 1.883916974067688, -1.3815137147903442, 1.28233003616333, 1.7183566093444824, -0.01968744955956936, 0.01968744955956936], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6086442470550537, -0.8607995510101318, 1.0355154275894165, 1.6855497360229492, -1.2045090198516846, -1.8938353061676025, -0.033257171511650085, 0.033257171511650085, 0.5327305793762207, -1.7809185981750488, 1.960593581199646, -1.3773174285888672, 1.342984676361084, 1.7111085653305054, -0.020600007846951485, 0.020600007846951485], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6059738993644714, -0.8607995510101318, 1.0336079597473145, 1.6859312057495117, -1.2037460803985596, -1.8907835483551025, -0.033257171511650085, 0.033257171511650085, 0.49114975333213806, -1.7683298587799072, 2.0017929077148438, -1.3815137147903442, 1.408979892730713, 1.6943236589431763, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6055924296379089, -0.8607995510101318, 1.0313191413879395, 1.6859312057495117, -1.2037460803985596, -1.88735032081604, -0.033257171511650085, 0.033257171511650085, 0.4243915379047394, -1.7408636808395386, 1.9808118343353271, -1.3803693056106567, 1.4505608081817627, 1.6805905103683472, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6044480204582214, -0.8607995510101318, 1.0282673835754395, 1.6855497360229492, -1.203364610671997, -1.88735032081604, -0.033257171511650085, 0.033257171511650085, 0.3397039771080017, -1.7008087635040283, 1.9048981666564941, -1.3868544101715088, 1.4669642448425293, 1.6729609966278076, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6044480204582214, -0.8607995510101318, 1.0248340368270874, 1.6855497360229492, -1.200312852859497, -1.8869688510894775, -0.033257171511650085, 0.033257171511650085, 0.2569237947463989, -1.6618982553482056, 1.8087663650512695, -1.3868544101715088, 1.4524681568145752, 1.6664758920669556, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6044480204582214, -0.8607995510101318, 1.0217822790145874, 1.6832607984542847, -1.195353627204895, -1.883916974067688, -0.03326510637998581, 0.03326510637998581, 0.1977950781583786, -1.6348134279251099, 1.7248417139053345, -1.3838025331497192, 1.432249903678894, 1.662279725074768, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6017776727676392, -0.8607995510101318, 1.0194933414459229, 1.6828793287277222, -1.1926833391189575, -1.883154034614563, -0.03326510637998581, 0.03326510637998581, 0.16384375095367432, -1.6199358701705933, 1.6626611948013306, -1.3830395936965942, 1.405928134918213, 1.6577019691467285, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5975814461708069, -0.8607995510101318, 1.0183489322662354, 1.6836423873901367, -1.1892499923706055, -1.8804837465286255, -0.033257171511650085, 0.033257171511650085, 0.1497291475534439, -1.6123063564300537, 1.6184099912643433, -1.3830395936965942, 1.3738842010498047, 1.6504539251327515, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5956740379333496, -0.8607995510101318, 1.0175859928131104, 1.6836423873901367, -1.1892499923706055, -1.8797208070755005, -0.033257171511650085, 0.033257171511650085, 0.14820325374603271, -1.6073472499847412, 1.5836957693099976, -1.3799878358840942, 1.337262511253357, 1.647783637046814, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5933852195739746, -0.8607995510101318, 1.0156786441802979, 1.6836423873901367, -1.188868522644043, -1.8789578676223755, -0.033257171511650085, 0.033257171511650085, 0.14858472347259521, -1.6065843105316162, 1.5505073070526123, -1.3807507753372192, 1.2968261241912842, 1.639772653579712, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5914778113365173, -0.8607995510101318, 1.0141527652740479, 1.6832607984542847, -1.188868522644043, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.152399480342865, -1.6050583124160767, 1.5211337804794312, -1.3811322450637817, 1.257534146308899, 1.6363393068313599, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5899519324302673, -0.8607995510101318, 1.0133898258209229, 1.6828793287277222, -1.1884870529174805, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.15774014592170715, -1.6054397821426392, 1.498626708984375, -1.3818951845169067, 1.2281605005264282, 1.6317616701126099, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5872815847396851, -0.8607995510101318, 1.0122454166412354, 1.6828793287277222, -1.1884870529174805, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.16231784224510193, -1.6096360683441162, 1.485656499862671, -1.3826581239700317, 1.2113755941390991, 1.6317616701126099, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5857557058334351, -0.8607995510101318, 1.0118639469146729, 1.6828793287277222, -1.1884870529174805, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.1661325991153717, -1.6180285215377808, 1.4784084558486938, -1.3830395936965942, 1.201838731765747, 1.6294728517532349, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5838482975959778, -0.8607995510101318, 1.0107194185256958, 1.6828793287277222, -1.1884870529174805, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.17071031033992767, -1.6279468536376953, 1.4749752283096313, -1.3818951845169067, 1.1949721574783325, 1.6294728517532349, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5830853581428528, -0.8607995510101318, 1.0095750093460083, 1.6824978590011597, -1.1884870529174805, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.17490653693675995, -1.640535593032837, 1.4726864099502563, -1.3815137147903442, 1.190394401550293, 1.6294728517532349, -0.021167118102312088, 0.021167118102312088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5830853581428528, -0.8607995510101318, 1.0088120698928833, 1.6809719800949097, -1.188868522644043, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.17833982408046722, -1.653505802154541, 1.4711604118347168, -1.3830395936965942, 1.188105583190918, 1.6298543214797974, -0.021087469533085823, 0.021087469533085823], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5830853581428528, -0.8607995510101318, 1.0088120698928833, 1.6786831617355347, -1.188868522644043, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.1817730963230133, -1.663805603981018, 1.4711604118347168, -1.3818951845169067, 1.185053825378418, 1.6306172609329224, -0.019065456464886665, 0.019065456464886665], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5830853581428528, -0.8607995510101318, 1.0076676607131958, 1.6783016920089722, -1.1892499923706055, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.1836804747581482, -1.6714351177215576, 1.4703974723815918, -1.3807507753372192, 1.1812390089035034, 1.6371023654937744, -0.01831933483481407, 0.01831933483481407], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5830853581428528, -0.8607995510101318, 1.0072861909866333, 1.6783016920089722, -1.1892499923706055, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.1832990050315857, -1.6771572828292847, 1.4669642448425293, -1.3826581239700317, 1.1743724346160889, 1.640535593032837, -0.01686442643404007, 0.01686442643404007], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5827038884162903, -0.8607995510101318, 1.0072861909866333, 1.6783016920089722, -1.189631462097168, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.182917520403862, -1.6802090406417847, 1.4639123678207397, -1.3826581239700317, 1.1659799814224243, 1.6451133489608765, -0.01442792546004057, 0.01442792546004057], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5807965397834778, -0.8607995510101318, 1.0072861909866333, 1.6779202222824097, -1.189631462097168, -1.876668930053711, -0.033257171511650085, 0.033257171511650085, 0.1813916265964508, -1.6821163892745972, 1.4604791402816772, -1.3826581239700317, 1.1621652841567993, 1.649309515953064, -0.010416526347398758, 0.010416526347398758], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5773632526397705, -0.8607995510101318, 1.0069047212600708, 1.6760128736495972, -1.1900129318237305, -1.8770503997802734, -0.033257171511650085, 0.033257171511650085, 0.1802472025156021, -1.6840238571166992, 1.4581903219223022, -1.3822766542434692, 1.1587319374084473, 1.657320499420166, -0.0031761147547513247, 0.0031761147547513247], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5754558444023132, -0.8607995510101318, 1.0057603120803833, 1.6763943433761597, -1.1900129318237305, -1.877431869506836, -0.033257171511650085, 0.033257171511650085, 0.17948424816131592, -1.6840238571166992, 1.4566643238067627, -1.3807507753372192, 1.1564431190490723, 1.6664758920669556, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5750743746757507, -0.8607995510101318, 1.0057603120803833, 1.6763943433761597, -1.190394401550293, -1.8770503997802734, -0.033257171511650085, 0.033257171511650085, 0.17681391537189484, -1.6840238571166992, 1.4566643238067627, -1.3807507753372192, 1.1556801795959473, 1.667620301246643, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5727855563163757, -0.8607995510101318, 1.0057603120803833, 1.6763943433761597, -1.1900129318237305, -1.877431869506836, -0.033257171511650085, 0.033257171511650085, 0.17261768877506256, -1.6763943433761597, 1.4566643238067627, -1.3830395936965942, 1.1552987098693848, 1.6771572828292847, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.572022557258606, -0.8607995510101318, 1.0057603120803833, 1.6786831617355347, -1.193827748298645, -1.880102276802063, -0.033257171511650085, 0.033257171511650085, 0.1668955534696579, -1.642061471939087, 1.4581903219223022, -1.3830395936965942, 1.1453803777694702, 1.6863126754760742, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5716410875320435, -0.8607995510101318, 1.0114823579788208, 1.6779202222824097, -1.19916832447052, -1.880102276802063, -0.033257171511650085, 0.033257171511650085, 0.164988175034523, -1.576066255569458, 1.4585717916488647, -1.3841840028762817, 1.115625262260437, 1.7030975818634033, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.569733738899231, -0.8607995510101318, 1.033989429473877, 1.6741054058074951, -1.2170977592468262, -1.880865216255188, -0.033257171511650085, 0.033257171511650085, 0.1997024416923523, -1.4932860136032104, 1.4581903219223022, -1.4669642448425293, 1.0908293724060059, 1.7656595706939697, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.570496678352356, -0.8607995510101318, 1.0740443468093872, 1.658846378326416, -1.2331197261810303, -1.8865872621536255, -0.033257171511650085, 0.033257171511650085, 0.273708701133728, -1.409742832183838, 1.439497947692871, -1.583314299583435, 1.0732814073562622, 1.8430991172790527, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5781261920928955, -0.8607995510101318, 1.122110366821289, 1.647020697593689, -1.2346456050872803, -1.8923094272613525, -0.033257171511650085, 0.033257171511650085, 0.3622110188007355, -1.3311588764190674, 1.3918135166168213, -1.6687648296356201, 1.050774335861206, 1.9056611061096191, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5975814461708069, -0.8657587766647339, 1.1606394052505493, 1.6409170627593994, -1.2117570638656616, -1.9037537574768066, -0.033257171511650085, 0.033257171511650085, 0.45872434973716736, -1.269359827041626, 1.3227664232254028, -1.7126344442367554, 1.0362783670425415, 1.9651713371276855, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6311513185501099, -0.8855955004692078, 1.1892499923706055, 1.6344319581985474, -1.1846723556518555, -1.9117647409439087, -0.03309774026274681, 0.03309774026274681, 0.5487525463104248, -1.2300678491592407, 1.259822964668274, -1.7393378019332886, 1.0183489322662354, 2.023918628692627, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6815060377120972, -0.9267948269844055, 1.2148088216781616, 1.642061471939087, -1.1659799814224243, -1.9312199354171753, -0.03196431323885918, 0.03196431323885918, 0.6219958662986755, -1.2098497152328491, 1.2159533500671387, -1.7599374055862427, 0.9985122680664062, 2.0803768634796143, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7307164072990417, -0.9748607873916626, 1.2342641353607178, 1.6721980571746826, -1.1541543006896973, -1.954108476638794, -0.03196431323885918, 0.03196431323885918, 0.6784542798995972, -1.199549913406372, 1.191157341003418, -1.7652781009674072, 0.9809643626213074, 2.1330206394195557, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7623788714408875, -1.0275044441223145, 1.2464714050292969, 1.6977568864822388, -1.1453803777694702, -1.9747081995010376, -0.03195589780807495, 0.03195589780807495, 0.7104982137680054, -1.1934462785720825, 1.1781872510910034, -1.7736705541610718, 0.9710460305213928, 2.181086540222168, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7791637778282166, -1.0637445449829102, 1.2460898160934448, 1.7099641561508179, -1.1247806549072266, -1.9899672269821167, -0.03195589780807495, 0.03195589780807495, 0.7330052852630615, -1.190394401550293, 1.1717021465301514, -1.7767223119735718, 0.9660868048667908, 2.213130474090576, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7871748208999634, -1.0839627981185913, 1.2350270748138428, 1.7130159139633179, -1.0954070091247559, -2.0014114379882812, -0.03196431323885918, 0.03196431323885918, 0.7490272521972656, -1.1892499923706055, 1.1678873300552368, -1.7774853706359863, 0.9618905782699585, 2.2337300777435303, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7890821695327759, -1.0954070091247559, 1.2212939262390137, 1.7137788534164429, -1.0671778917312622, -2.014000177383423, -0.03196431323885918, 0.03196431323885918, 0.7616159319877625, -1.1877241134643555, 1.1671243906021118, -1.7809185981750488, 0.960746169090271, 2.250896453857422, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -1.101129174232483, 1.2075608968734741, 1.7118715047836304, -1.0458152294158936, -2.0181963443756104, -0.031693555414676666, 0.031693555414676666, 0.7734416723251343, -1.1877241134643555, 1.1663614511489868, -1.7801556587219238, 0.9596017599105835, 2.260051965713501, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7784008383750916, -1.104943871498108, 1.1934462785720825, 1.7050049304962158, -1.033989429473877, -2.024681568145752, -0.03045904077589512, 0.03045904077589512, 0.7784008383750916, -1.1877241134643555, 1.1667429208755493, -1.7801556587219238, 0.9584572911262512, 2.269970178604126, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7654306888580322, -1.1064698696136475, 1.1804760694503784, 1.7019531726837158, -1.02521550655365, -2.0349812507629395, -0.029886288568377495, 0.029886288568377495, 0.7848859429359436, -1.1877241134643555, 1.1675058603286743, -1.7801556587219238, 0.9573128819465637, 2.271496057510376, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7555122971534729, -1.1072328090667725, 1.1705577373504639, 1.7011902332305908, -1.0210193395614624, -2.0395591259002686, -0.029823072254657745, 0.029823072254657745, 0.7879377603530884, -1.1877241134643555, 1.1678873300552368, -1.7801556587219238, 0.9565499424934387, 2.277599811553955, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7448310256004333, -1.107614278793335, 1.1598763465881348, 1.6931792497634888, -1.0183489322662354, -2.0426108837127686, -0.028058810159564018, 0.028058810159564018, 0.7894636392593384, -1.1877241134643555, 1.1686503887176514, -1.7805371284484863, 0.9554055333137512, 2.2787442207336426, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7364385724067688, -1.107614278793335, 1.1503394842147827, 1.6828793287277222, -1.0107194185256958, -2.044518232345581, -0.025480762124061584, 0.025480762124061584, 0.7928969264030457, -1.1877241134643555, 1.1697947978973389, -1.7797741889953613, 0.9485389590263367, 2.28141450881958, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.734149694442749, -1.107614278793335, 1.1411840915679932, 1.666857361793518, -0.9988937377929688, -2.0456626415252686, -0.022093696519732475, 0.022093696519732475, 0.7951858043670654, -1.1877241134643555, 1.1697947978973389, -1.7801556587219238, 0.9420538544654846, 2.285229206085205, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7314793467521667, -1.107614278793335, 1.1339360475540161, 1.6523613929748535, -0.9893568158149719, -2.046044111251831, -0.014492255635559559, 0.014492255635559559, 0.7978560924530029, -1.1877241134643555, 1.1701762676239014, -1.7801556587219238, 0.9393835067749023, 2.286755084991455, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.727664589881897, -1.107614278793335, 1.1293584108352661, 1.6439688205718994, -0.9817273020744324, -2.046044111251831, -0.005914024543017149, 0.005914024543017149, 0.7982375621795654, -1.1877241134643555, 1.1701762676239014, -1.7797741889953613, 0.9340428709983826, 2.288280963897705, -0.001062329625710845, 0.001062329625710845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.724612832069397, -1.109140157699585, 1.1255435943603516, 1.644731879234314, -0.9836347103118896, -2.0456626415252686, -0.0026548022869974375, 0.0026548022869974375, 0.7993820309638977, -1.1869611740112305, 1.1717021465301514, -1.7759593725204468, 0.9294651746749878, 2.288280963897705, -0.0011097490787506104, 0.0011097490787506104], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7249943017959595, -1.1087586879730225, 1.1240177154541016, 1.6260395050048828, -0.9737163186073303, -2.046044111251831, -0.002295240992680192, 0.002295240992680192, 0.7974746227264404, -1.1869611740112305, 1.1717021465301514, -1.7774853706359863, 0.9260318875312805, 2.2886624336242676, -0.0038783904165029526, 0.0038783904165029526], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7242313027381897, -1.1079957485198975, 1.1217288970947266, 1.6180285215377808, -0.9706645011901855, -2.0456626415252686, -0.001606784644536674, 0.001606784644536674, 0.7948042750358582, -1.187342643737793, 1.1705577373504639, -1.7805371284484863, 0.9298466444015503, 2.2886624336242676, -0.011834990233182907, 0.011834990233182907], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7166017889976501, -1.1079957485198975, 1.115625262260437, 1.6245136260986328, -0.9718089699745178, -2.046807050704956, -0.0015180277405306697, 0.0015180277405306697, 0.7925154566764832, -1.1877241134643555, 1.1705577373504639, -1.7809185981750488, 0.9348058104515076, 2.288280963897705, -0.020222578197717667, 0.020222578197717667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7055390477180481, -1.1079957485198975, 1.1079957485198975, 1.6275653839111328, -0.9733348488807678, -2.049858808517456, -0.0015180277405306697, 0.0015180277405306697, 0.7913710474967957, -1.187342643737793, 1.1751353740692139, -1.7809185981750488, 0.9348058104515076, 2.288280963897705, -0.027756521478295326, 0.027756521478295326], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.691042959690094, -1.1102845668792725, 1.101129174232483, 1.637483835220337, -0.9725719094276428, -2.053673505783081, -0.0015180277405306697, 0.0015180277405306697, 0.7951858043670654, -1.187342643737793, 1.1907758712768555, -1.7805371284484863, 0.9348058104515076, 2.2833218574523926, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6681544184684753, -1.1263065338134766, 1.104943871498108, 1.650072455406189, -0.9805828928947449, -2.0540549755096436, -0.0015180277405306697, 0.0015180277405306697, 0.8039597272872925, -1.187342643737793, 1.2205309867858887, -1.7797741889953613, 0.9344243407249451, 2.260814905166626, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6387808322906494, -1.1640726327896118, 1.1358433961868286, 1.6561760902404785, -1.0076676607131958, -2.0426108837127686, -0.0015180277405306697, 0.0015180277405306697, 0.7948042750358582, -1.1869611740112305, 1.2579156160354614, -1.7301822900772095, 0.9344243407249451, 2.198634386062622, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6040665507316589, -1.2243458032608032, 1.1987868547439575, 1.6321431398391724, -1.0599298477172852, -2.0063705444335938, -0.0015180277405306697, 0.0015180277405306697, 0.7459754347801208, -1.186579704284668, 1.28233003616333, -1.5962843894958496, 0.9477760195732117, 2.0849545001983643, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.571259617805481, -1.2972075939178467, 1.28385591506958, 1.595902919769287, -1.127450942993164, -1.9594491720199585, -0.0015180277405306697, 0.0015180277405306697, 0.6948577165603638, -1.1861982345581055, 1.2949187755584717, -1.4860379695892334, 0.9767681360244751, 1.9750896692276, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5415045619010925, -1.3796063661575317, 1.3796063661575317, 1.5501258373260498, -1.201075792312622, -1.9121462106704712, -0.0015180277405306697, 0.0015180277405306697, 0.6456473469734192, -1.186579704284668, 1.2960631847381592, -1.429198145866394, 1.0179674625396729, 1.882391095161438, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5235751867294312, -1.4532310962677002, 1.4597162008285522, 1.5119783878326416, -1.2621119022369385, -1.8739986419677734, -0.0015180277405306697, 0.0015180277405306697, 0.5933852195739746, -1.186579704284668, 1.2853819131851196, -1.3941023349761963, 1.0706111192703247, 1.7839703559875488, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5136567950248718, -1.5188448429107666, 1.5238040685653687, 1.4787899255752563, -1.3052185773849487, -1.8377584218978882, -0.0015180277405306697, 0.0015180277405306697, 0.5537117719650269, -1.1861982345581055, 1.265545129776001, -1.3715953826904297, 1.11295485496521, 1.7042419910430908, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5098420977592468, -1.5699626207351685, 1.563096046447754, 1.4581903219223022, -1.3296329975128174, -1.8141069412231445, -0.0015180277405306697, 0.0015180277405306697, 0.5235751867294312, -1.183146357536316, 1.2357900142669678, -1.361295461654663, 1.1388952732086182, 1.6531243324279785, -0.033727727830410004, 0.033727727830410004], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5071717500686646, -1.6073472499847412, 1.583314299583435, 1.4501793384552002, -1.335736632347107, -1.80113685131073, -0.0015180277405306697, 0.0015180277405306697, 0.506790280342102, -1.180857539176941, 1.2029831409454346, -1.3536659479141235, 1.1549172401428223, 1.6229877471923828, -0.033727727830410004, 0.033727727830410004], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506790280342102, -1.6363393068313599, 1.593614101409912, 1.4494163990020752, -1.3307774066925049, -1.7912184000015259, -0.0015180277405306697, 0.0015180277405306697, 0.50030517578125, -1.180094599723816, 1.1751353740692139, -1.3464179039001465, 1.1636911630630493, 1.6058213710784912, -0.0337199829518795, 0.0337199829518795], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506790280342102, -1.653505802154541, 1.595139980316162, 1.4505608081817627, -1.3132295608520508, -1.7858778238296509, -0.0015180277405306697, 0.0015180277405306697, 0.49229419231414795, -1.179331660270691, 1.1587319374084473, -1.3464179039001465, 1.1648355722427368, 1.5978103876113892, -0.033288903534412384, 0.033288903534412384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506790280342102, -1.663042664527893, 1.589417815208435, 1.4543755054473877, -1.2937743663787842, -1.7824444770812988, -0.0015180277405306697, 0.0015180277405306697, 0.4861905872821808, -1.1789501905441284, 1.1499580144882202, -1.3456549644470215, 1.1659799814224243, 1.593614101409912, -0.03326510637998581, 0.03326510637998581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506790280342102, -1.667620301246643, 1.5787365436553955, 1.4600976705551147, -1.274319052696228, -1.7797741889953613, -0.0015180277405306697, 0.0015180277405306697, 0.4842832088470459, -1.179331660270691, 1.1453803777694702, -1.345273494720459, 1.1667429208755493, 1.590562343597412, -0.03326510637998581, 0.03326510637998581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506790280342102, -1.6706721782684326, 1.567292332649231, 1.4662013053894043, -1.2621119022369385, -1.7793927192687988, -0.001526435138657689, 0.001526435138657689, 0.4827573001384735, -1.179331660270691, 1.1427099704742432, -1.345273494720459, 1.1659799814224243, 1.587891936302185, -0.03326510637998581, 0.03326510637998581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5071717500686646, -1.6718165874481201, 1.559281349182129, 1.4669642448425293, -1.2533378601074219, -1.7793927192687988, -0.0018355350475758314, 0.0018355350475758314, 0.4858091175556183, -1.179331660270691, 1.1415655612945557, -1.3448920249938965, 1.1598763465881348, 1.587891936302185, -0.03326510637998581, 0.03326510637998581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.507553219795227, -1.6721980571746826, 1.5550850629806519, 1.4688715934753418, -1.2472343444824219, -1.7786297798156738, -0.002722651930525899, 0.002722651930525899, 0.4892423748970032, -1.179331660270691, 1.1408026218414307, -1.344510555267334, 1.1541543006896973, 1.587891936302185, -0.03326510637998581, 0.03326510637998581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5109865069389343, -1.6721980571746826, 1.5531777143478394, 1.4631494283676147, -1.2453268766403198, -1.7721446752548218, -0.005121928174048662, 0.005121928174048662, 0.49267566204071045, -1.179331660270691, 1.1408026218414307, -1.344510555267334, 1.1522468328475952, 1.58865487575531, -0.03326510637998581, 0.03326510637998581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5151827335357666, -1.6699092388153076, 1.5520333051681519, 1.4574273824691772, -1.2445639371871948, -1.7679483890533447, -0.008230176754295826, 0.008230176754295826, 0.4953460097312927, -1.179331660270691, 1.1408026218414307, -1.3441290855407715, 1.1488136053085327, 1.592088222503662, -0.03326510637998581, 0.03326510637998581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5193789601325989, -1.662279725074768, 1.5520333051681519, 1.4543755054473877, -1.2441824674606323, -1.7679483890533447, -0.009957394562661648, 0.009957394562661648, 0.4999237060546875, -1.1789501905441284, 1.1408026218414307, -1.3441290855407715, 1.1484321355819702, 1.5924696922302246, -0.03326510637998581, 0.03326510637998581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5216678380966187, -1.6496909856796265, 1.5520333051681519, 1.4536125659942627, -1.2422751188278198, -1.7668039798736572, -0.012701976113021374, 0.012701976113021374, 0.5056458115577698, -1.179331660270691, 1.1408026218414307, -1.3441290855407715, 1.1480506658554077, 1.595902919769287, -0.03326510637998581, 0.03326510637998581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5224307775497437, -1.6332875490188599, 1.5531777143478394, 1.4528496265411377, -1.2457083463668823, -1.7641336917877197, -0.014290387742221355, 0.014290387742221355, 0.5109865069389343, -1.179331660270691, 1.1408026218414307, -1.342984676361084, 1.1449989080429077, 1.595902919769287, -0.03326510637998581, 0.03326510637998581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5243381261825562, -1.6119248867034912, 1.559281349182129, 1.4543755054473877, -1.2556267976760864, -1.7645151615142822, -0.017346421256661415, 0.017346421256661415, 0.5113679766654968, -1.1789501905441284, 1.1408026218414307, -1.342984676361084, 1.1434729099273682, 1.595902919769287, -0.03326510637998581, 0.03326510637998581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5296788215637207, -1.5859845876693726, 1.574158787727356, 1.4642938375473022, -1.2739375829696655, -1.7648966312408447, -0.01575966738164425, 0.01575966738164425, 0.5086976289749146, -1.179331660270691, 1.1408026218414307, -1.343747615814209, 1.1377508640289307, 1.595902919769287, -0.029886288568377495, 0.029886288568377495], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5460822582244873, -1.5493628978729248, 1.5955214500427246, 1.4990081787109375, -1.2918668985366821, -1.7648966312408447, -0.003966092597693205, 0.003966092597693205, 0.4968718886375427, -1.1789501905441284, 1.1408026218414307, -1.343747615814209, 1.1362248659133911, 1.595902919769287, -0.014317860826849937, 0.014317860826849937], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.576981782913208, -1.4730678796768188, 1.577592134475708, 1.5772106647491455, -1.255245327949524, -1.7648966312408447, -5.417786815087311e-05, 5.417786815087311e-05, 0.4804684519767761, -1.1636911630630493, 1.1385138034820557, -1.344510555267334, 1.1217288970947266, 1.5890363454818726, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6090257167816162, -1.343747615814209, 1.4646753072738647, 1.6687648296356201, -1.1045624017715454, -1.7645151615142822, -5.417786815087311e-05, 5.417786815087311e-05, 0.4720759987831116, -1.106088399887085, 1.112191915512085, -1.3448920249938965, 1.0648889541625977, 1.5676738023757935, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6189440488815308, -1.1682689189910889, 1.260585904121399, 1.6973754167556763, -0.8424887657165527, -1.7641336917877197, -5.750389027525671e-05, 5.750389027525671e-05, 0.4713130295276642, -0.9859235286712646, 1.0290303230285645, -1.3433661460876465, 0.9370946884155273, 1.5417333841323853, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6113145351409912, -0.9859235286712646, 1.0210193395614624, 1.6294728517532349, -0.5674448609352112, -1.720263957977295, -5.750389027525671e-05, 5.750389027525671e-05, 0.4842832088470459, -0.811589241027832, 0.8878843188285828, -1.343747615814209, 0.7585641145706177, 1.5093079805374146, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.622377336025238, -0.8150225281715393, 0.8203631639480591, 1.5897992849349976, -0.36335545778274536, -1.6599907875061035, -5.750389027525671e-05, 5.750389027525671e-05, 0.509079098701477, -0.6261920928955078, 0.7314793467521667, -1.3426032066345215, 0.5903334021568298, 1.487182378768921, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.6738765835762024, 0.6700618267059326, 1.568818211555481, -0.25425344705581665, -1.6271839141845703, -5.750389027525671e-05, 5.750389027525671e-05, 0.541886031627655, -0.44613564014434814, 0.5781261920928955, -1.342984676361084, 0.47550925612449646, 1.4742122888565063, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.5491340756416321, 0.5350194573402405, 1.5543221235275269, -0.17719538509845734, -1.6084916591644287, -5.750389027525671e-05, 5.750389027525671e-05, 0.5907148718833923, -0.2958342730998993, 0.44117647409439087, -1.3433661460876465, 0.3881513774394989, 1.4650568962097168, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7513160705566406, -0.44422826170921326, 0.41142138838768005, 1.5470740795135498, -0.0864042118191719, -1.6035324335098267, -5.750389027525671e-05, 5.750389027525671e-05, 0.6528953909873962, -0.17719538509845734, 0.3118562698364258, -1.342984676361084, 0.28515297174453735, 1.4639123678207397, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7806897163391113, -0.3728923499584198, 0.3217746317386627, 1.5436408519744873, -0.026131074875593185, -1.6107804775238037, -5.417786815087311e-05, 5.417786815087311e-05, 0.7131685614585876, -0.10700388997793198, 0.2149614691734314, -1.3426032066345215, 0.19474326074123383, 1.4604791402816772, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8020523190498352, -0.31605249643325806, 0.25158312916755676, 1.5398260354995728, 0.01430533267557621, -1.6187914609909058, -5.750389027525671e-05, 5.750389027525671e-05, 0.7639048099517822, -0.0711451917886734, 0.15697719156742096, -1.342984676361084, 0.14019227027893066, 1.4578088521957397, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8134965896606445, -0.2744716703891754, 0.20351719856262207, 1.5398260354995728, 0.03299763426184654, -1.6226062774658203, -5.417786815087311e-05, 5.417786815087311e-05, 0.7898451089859009, -0.051689937710762024, 0.12607766687870026, -1.342984676361084, 0.10700388997793198, 1.4574273824691772, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.23937590420246124, 0.1653696447610855, 1.5375372171401978, 0.03795681521296501, -1.6256580352783203, -5.750389027525671e-05, 5.750389027525671e-05, 0.8039597272872925, -0.042153049260377884, 0.10814831405878067, -1.342984676361084, 0.08564125746488571, 1.4566643238067627, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, -0.20695048570632935, 0.1359960287809372, 1.5360113382339478, 0.04253452271223068, -1.6264209747314453, -5.750389027525671e-05, 5.750389027525671e-05, 0.8093003630638123, -0.03643091395497322, 0.09555962681770325, -1.3433661460876465, 0.06237125024199486, 1.4539940357208252, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8245593905448914, -0.17757686972618103, 0.11387044936418533, 1.5325779914855957, 0.045204851776361465, -1.6279468536376953, -5.750389027525671e-05, 5.750389027525671e-05, 0.8176928162574768, -0.034142062067985535, 0.08220797777175903, -1.343747615814209, 0.040245670825242996, 1.4539940357208252, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8241779208183289, -0.1527809500694275, 0.10090028494596481, 1.5283818244934082, 0.04406042397022247, -1.6298543214797974, -5.417786815087311e-05, 5.417786815087311e-05, 0.8291370868682861, -0.03223468363285065, 0.06504157930612564, -1.344510555267334, 0.010109102353453636, 1.4539940357208252, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8218890428543091, -0.1337071806192398, 0.09021896868944168, 1.5264743566513062, 0.02880140393972397, -1.6298543214797974, -5.417786815087311e-05, 5.417786815087311e-05, 0.8356221914291382, -0.03147173300385475, 0.053215838968753815, -1.344510555267334, -0.009346150793135166, 1.4539940357208252, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8196002244949341, -0.12111848592758179, 0.071908138692379, 1.5249484777450562, 0.029182879254221916, -1.6298543214797974, -5.750389027525671e-05, 5.750389027525671e-05, 0.8352407217025757, -0.03147173300385475, 0.04406042397022247, -1.344510555267334, -0.02384222112596035, 1.4539940357208252, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8196002244949341, -0.11463340371847153, 0.04901960864663124, 1.5253299474716187, 0.05130846053361893, -1.6298543214797974, -5.750389027525671e-05, 5.750389027525671e-05, 0.8367666006088257, -0.03147173300385475, 0.034142062067985535, -1.344510555267334, -0.037193864583969116, 1.4539940357208252, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8192187547683716, -0.11081864684820175, 0.034142062067985535, 1.5257114171981812, 0.07000076025724411, -1.6298543214797974, -5.750389027525671e-05, 5.750389027525671e-05, 0.8382925391197205, -0.03147173300385475, 0.026512550190091133, -1.344510555267334, -0.04711223021149635, 1.4543755054473877, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8192187547683716, -0.10891126841306686, 0.026512550190091133, 1.5299077033996582, 0.07801175117492676, -1.6298543214797974, -7.416550215566531e-05, 7.416550215566531e-05, 0.837911069393158, -0.031090257689356804, 0.021553369238972664, -1.344510555267334, -0.05664911866188049, 1.4543755054473877, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8196002244949341, -0.10814831405878067, 0.022697795182466507, 1.5344853401184082, 0.08411535620689392, -1.6298543214797974, -0.000628251233138144, 0.000628251233138144, 0.8375295400619507, -0.03147173300385475, 0.01888304017484188, -1.344510555267334, -0.06008239835500717, 1.4559013843536377, -0.00034796615364030004, 0.00034796615364030004], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.10700388997793198, 0.021171892061829567, 1.5371557474136353, 0.0875486359000206, -1.6298543214797974, -0.0006062152679078281, 0.0006062152679078281, 0.8360036611557007, -0.03185320645570755, 0.01773861236870289, -1.344510555267334, -0.06237125024199486, 1.4574273824691772, -0.0004363503830973059, 0.0004363503830973059], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.10700388997793198, 0.02040894143283367, 1.5371557474136353, 0.08983749151229858, -1.6298543214797974, -0.0006062152679078281, 0.0006062152679078281, 0.8360036611557007, -0.03185320645570755, 0.016975661739706993, -1.344510555267334, -0.06542305648326874, 1.4578088521957397, -0.0004363503830973059, 0.0004363503830973059], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10738536715507507, 0.02040894143283367, 1.5371557474136353, 0.09021896868944168, -1.6298543214797974, -0.0006062152679078281, 0.0006062152679078281, 0.8356221914291382, -0.03185320645570755, 0.016975661739706993, -1.344510555267334, -0.06580453366041183, 1.4578088521957397, -0.0004363503830973059, 0.0004363503830973059], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.02040894143283367, 1.5371557474136353, 0.09021896868944168, -1.6298543214797974, -0.0006062152679078281, 0.0006062152679078281, 0.8344777822494507, -0.03185320645570755, 0.016975661739706993, -1.344510555267334, -0.06656748056411743, 1.4600976705551147, -0.0004363503830973059, 0.0004363503830973059], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.02040894143283367, 1.5371557474136353, 0.09098191559314728, -1.6302357912063599, -0.0006062152679078281, 0.0006062152679078281, 0.8340963125228882, -0.03185320645570755, 0.016975661739706993, -1.3441290855407715, -0.06656748056411743, 1.4620050191879272, -0.0004363503830973059, 0.0004363503830973059], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.02040894143283367, 1.5367742776870728, 0.09098191559314728, -1.6302357912063599, -0.0006062152679078281, 0.0006062152679078281, 0.8337147831916809, -0.03185320645570755, 0.016975661739706993, -1.3441290855407715, -0.06656748056411743, 1.4620050191879272, -0.00044347989023663104, 0.00044347989023663104], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.02040894143283367, 1.5367742776870728, 0.09174486994743347, -1.6302357912063599, -0.0006062152679078281, 0.0006062152679078281, 0.8329518437385559, -0.03185320645570755, 0.016975661739706993, -1.3441290855407715, -0.06656748056411743, 1.4620050191879272, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09250781685113907, -1.6302357912063599, -0.0006062152679078281, 0.0006062152679078281, 0.8325703740119934, -0.03185320645570755, 0.016212711110711098, -1.3441290855407715, -0.06694895774126053, 1.4623864889144897, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09327077120542526, -1.6302357912063599, -0.0006062152679078281, 0.0006062152679078281, 0.8344777822494507, -0.03185320645570755, 0.013160906732082367, -1.344510555267334, -0.06809338182210922, 1.4650568962097168, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09327077120542526, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8424887657165527, -0.03147173300385475, 0.010109102353453636, -1.3441290855407715, -0.07267109304666519, 1.4627679586410522, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09327077120542526, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8539330363273621, -0.031090257689356804, 0.008201723918318748, -1.3448920249938965, -0.07534141838550568, 1.4490348100662231, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09288929402828217, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8661402463912964, -0.03032730519771576, 0.00667582219466567, -1.3448920249938965, -0.07610437273979187, 1.430724024772644, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5371557474136353, 0.09288929402828217, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8756771087646484, -0.03032730519771576, 0.00667582219466567, -1.3506141901016235, -0.07877469807863235, 1.422713041305542, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8821622133255005, -0.03032730519771576, 0.00667582219466567, -1.3746471405029297, -0.07915617525577545, 1.4288166761398315, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09174486994743347, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.882543683052063, -0.03032730519771576, 0.00667582219466567, -1.4417868852615356, -0.07915617525577545, 1.4860379695892334, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.882543683052063, -0.03032730519771576, 0.00667582219466567, -1.50091552734375, -0.07915617525577545, 1.5413519144058228, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.882543683052063, -0.03032730519771576, 0.00667582219466567, -1.5352483987808228, -0.07915617525577545, 1.5691996812820435, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8844510316848755, -0.03032730519771576, 0.00667582219466567, -1.5554665327072144, -0.07953765243291855, 1.58712899684906, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8848325610160828, -0.03032730519771576, 0.00667582219466567, -1.566147804260254, -0.07953765243291855, 1.597428798675537, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8848325610160828, -0.03032730519771576, 0.00667582219466567, -1.572632908821106, -0.07953765243291855, 1.6012436151504517, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8844510316848755, -0.03032730519771576, 0.00667582219466567, -1.576829195022583, -0.07953765243291855, 1.6081101894378662, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8783474564552307, -0.03032730519771576, 0.00667582219466567, -1.579118013381958, -0.07991912961006165, 1.6161211729049683, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8710994124412537, -0.03032730519771576, 0.00667582219466567, -1.579880952835083, -0.07991912961006165, 1.6233692169189453, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8665217161178589, -0.03032730519771576, 0.00667582219466567, -1.5821698904037476, -0.07991912961006165, 1.6309987306594849, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8634698987007141, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.6344319581985474, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006062152679078281, 0.0006062152679078281, 0.8627069592475891, -0.03032730519771576, 0.00667582219466567, -1.581406831741333, -0.07991912961006165, 1.639009714126587, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.0006025503971613944, 0.0006025503971613944, 0.8607995510101318, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.639009714126587, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5367742776870728, 0.09212634712457657, -1.6306172609329224, -0.00031996937468647957, 0.00031996937468647957, 0.8607995510101318, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.639009714126587, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.10891126841306686, 0.020027466118335724, 1.5363928079605103, 0.09212634712457657, -1.6306172609329224, -0.00031996937468647957, 0.00031996937468647957, 0.8607995510101318, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.639009714126587, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8226520419120789, -0.10891126841306686, 0.020027466118335724, 1.5386816263198853, 0.09212634712457657, -1.6306172609329224, -0.00031996937468647957, 0.00031996937468647957, 0.8607995510101318, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.639009714126587, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8306630253791809, -0.10891126841306686, 0.020027466118335724, 1.5543221235275269, 0.09060044586658478, -1.6306172609329224, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.641298532485962, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8428702354431152, -0.10891126841306686, 0.02040894143283367, 1.567292332649231, 0.09021896868944168, -1.6218433380126953, -0.00032346139778383076, 0.00032346139778383076, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.641298532485962, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.10891126841306686, 0.02040894143283367, 1.5707255601882935, 0.09021896868944168, -1.6134508848190308, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.641298532485962, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8520256280899048, -0.10891126841306686, 0.02040894143283367, 1.5714884996414185, 0.08983749151229858, -1.6058213710784912, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.641298532485962, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8543145060539246, -0.10891126841306686, 0.02040894143283367, 1.571107029914856, 0.08983749151229858, -1.6016250848770142, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.641298532485962, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -0.10891126841306686, 0.02040894143283367, 1.571107029914856, 0.08945601433515549, -1.5993362665176392, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.641298532485962, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8558403849601746, -0.10891126841306686, 0.02040894143283367, 1.5707255601882935, 0.08945601433515549, -1.6004806756973267, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.6409170627593994, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8508812189102173, -0.10891126841306686, 0.02040894143283367, 1.570344090461731, 0.08983749151229858, -1.6157397031784058, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.6409170627593994, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.10891126841306686, 0.02040894143283367, 1.5699626207351685, 0.08983749151229858, -1.6283283233642578, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.640535593032837, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8375295400619507, -0.10891126841306686, 0.02040894143283367, 1.568818211555481, 0.09021896868944168, -1.639772653579712, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.640535593032837, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8367666006088257, -0.10891126841306686, 0.02040894143283367, 1.5669108629226685, 0.09021896868944168, -1.6458762884140015, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.640535593032837, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8356221914291382, -0.10891126841306686, 0.02040894143283367, 1.5669108629226685, 0.09060044586658478, -1.6489280462265015, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.6401541233062744, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8344777822494507, -0.10891126841306686, 0.02040894143283367, 1.5669108629226685, 0.09060044586658478, -1.6489280462265015, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.08030059933662415, 1.6401541233062744, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8344777822494507, -0.10891126841306686, 0.02040894143283367, 1.5669108629226685, 0.09136339277029037, -1.6496909856796265, -0.00031996937468647957, 0.00031996937468647957, 0.8604180812835693, -0.03032730519771576, 0.00667582219466567, -1.5817883014678955, -0.07991912961006165, 1.6401541233062744, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000002/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000002/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..fc94c81e03dfedabd55ef2d4fc6e8e94a53bcd4c
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000002/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000004/meta.json b/rc-table30-v2__rc-dos-w1/000004/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..148e51879f43c84923bc44bd50d228001689c75b
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000004/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Open the drawer, put the bottle opener inside, and close the drawer.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 578,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000004/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000004/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..628816c679442482e3efeb566fcfc8df31b97967
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000004/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000004/temporal.json b/rc-table30-v2__rc-dos-w1/000004/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..93cddd2afe97ef39282b9903e94f464f0905dd3b
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000004/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07343403995037079, -0.009727626107633114, -1.5341038703918457, -0.08564125746488571, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07343403995037079, -0.009727626107633114, -1.5341038703918457, -0.08602273464202881, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07343403995037079, -0.009727626107633114, -1.5341038703918457, -0.08602273464202881, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07343403995037079, -0.009727626107633114, -1.5341038703918457, -0.08602273464202881, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07343403995037079, -0.009727626107633114, -1.5341038703918457, -0.08602273464202881, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07381551712751389, -0.009727626107633114, -1.5341038703918457, -0.08564125746488571, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07343403995037079, -0.009727626107633114, -1.5341038703918457, -0.08564125746488571, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07343403995037079, -0.009727626107633114, -1.5341038703918457, -0.08602273464202881, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07381551712751389, -0.009727626107633114, -1.5341038703918457, -0.08602273464202881, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07343403995037079, -0.009727626107633114, -1.5341038703918457, -0.08602273464202881, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07343403995037079, -0.009727626107633114, -1.5341038703918457, -0.08602273464202881, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.09975585341453552, -0.007057297509163618, 1.6065843105316162, 0.1188296303153038, -1.6538872718811035, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07419699430465698, -0.009727626107633114, -1.5341038703918457, -0.0864042118191719, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.10090028494596481, -0.00667582219466567, 1.6065843105316162, 0.1188296303153038, -1.653505802154541, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5341038703918457, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.1035706102848053, -0.00476844422519207, 1.6065843105316162, 0.1188296303153038, -1.6531243324279785, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5341038703918457, -0.0871671661734581, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.11196307092905045, 0.001716639962978661, 1.6065843105316162, 0.1203555315732956, -1.653505802154541, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5341038703918457, -0.0871671661734581, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.1363775134086609, 0.051689937710762024, 1.6065843105316162, 0.09327077120542526, -1.6519798040390015, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07419699430465698, -0.009727626107633114, -1.5341038703918457, -0.0871671661734581, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.20084688067436218, 0.14705882966518402, 1.6069657802581787, 0.042153049260377884, -1.6451133489608765, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5341038703918457, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8783474564552307, -0.30422675609588623, 0.247768372297287, 1.6073472499847412, 0.03795681521296501, -1.6905088424682617, -9.758010128280148e-05, 9.758010128280148e-05, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5341038703918457, -0.0871671661734581, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8615625500679016, -0.4331654906272888, 0.31490805745124817, 1.6088731288909912, 0.1188296303153038, -1.8499656915664673, -0.0021209483966231346, 0.0021209483966231346, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5337224006652832, -0.0871671661734581, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8310444951057434, -0.5743114352226257, 0.3526741564273834, 1.6065843105316162, 0.25463491678237915, -2.0803768634796143, -0.009671824984252453, 0.009671824984252453, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5337224006652832, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7955672740936279, -0.7379644513130188, 0.3854810297489166, 1.6065843105316162, 0.42668038606643677, -2.358854055404663, -0.015458574518561363, 0.015458574518561363, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5337224006652832, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.767719566822052, -0.8855955004692078, 0.4232471287250519, 1.6062028408050537, 0.5498970150947571, -2.5907912254333496, -0.021545618772506714, 0.021545618772506714, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5337224006652832, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7509346008300781, -1.0061417818069458, 0.4663538634777069, 1.6058213710784912, 0.6326771974563599, -2.7166781425476074, -0.023000024259090424, 0.023000024259090424, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5337224006652832, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7444495558738708, -1.0954070091247559, 0.5094605684280396, 1.5730143785476685, 0.6738765835762024, -2.789158582687378, -0.023000024259090424, 0.023000024259090424, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5333409309387207, -0.0871671661734581, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7421606779098511, -1.1583504676818848, 0.5476081371307373, 1.5218967199325562, 0.6986724734306335, -2.834172487258911, -0.023000024259090424, 0.023000024259090424, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5333409309387207, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7421606779098511, -1.201075792312622, 0.580033540725708, 1.4688715934753418, 0.7074463963508606, -2.859731435775757, -0.023000024259090424, 0.023000024259090424, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5329594612121582, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7452124953269958, -1.2346456050872803, 0.6094071865081787, 1.4200427532196045, 0.7070649266242981, -2.8746089935302734, -0.023000024259090424, 0.023000024259090424, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5329594612121582, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7524605393409729, -1.2644007205963135, 0.6406881809234619, 1.3914320468902588, 0.7082093358039856, -2.8852903842926025, -0.02298012375831604, 0.02298012375831604, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5325779914855957, -0.0871671661734581, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7616159319877625, -1.2918668985366821, 0.6731135845184326, 1.3742656707763672, 0.7028687000274658, -2.8913938999176025, -0.022940319031476974, 0.022940319031476974, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5325779914855957, -0.0871671661734581, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7722972631454468, -1.3155183792114258, 0.7028687000274658, 1.3639658689498901, 0.689517080783844, -2.8929197788238525, -0.02287065051496029, 0.02287065051496029, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7814526557922363, -1.3361181020736694, 0.7280460596084595, 1.359769582748413, 0.6776912808418274, -2.894827127456665, -0.021386221051216125, 0.021386221051216125, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7879377603530884, -1.352521538734436, 0.7486457824707031, 1.352521538734436, 0.6677729487419128, -2.894827127456665, -0.020580125972628593, 0.020580125972628593, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5318150520324707, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7890821695327759, -1.3658732175827026, 0.7665750980377197, 1.3521400690078735, 0.6540398001670837, -2.8952085971832275, -0.019905269145965576, 0.019905269145965576, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5318150520324707, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7909895181655884, -1.3754100799560547, 0.7806897163391113, 1.3521400690078735, 0.6437399983406067, -2.8952085971832275, -0.019095009192824364, 0.019095009192824364, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5318150520324707, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7917525172233582, -1.3826581239700317, 0.7898451089859009, 1.3521400690078735, 0.6383993029594421, -2.8952085971832275, -0.01780231110751629, 0.01780231110751629, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5318150520324707, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7917525172233582, -1.3872358798980713, 0.7959487438201904, 1.3490883111953735, 0.6349660754203796, -2.8952085971832275, -0.01637626625597477, 0.01637626625597477, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5318150520324707, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7917525172233582, -1.3910505771636963, 0.8020523190498352, 1.349469780921936, 0.6326771974563599, -2.8952085971832275, -0.015996048226952553, 0.015996048226952553, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5318150520324707, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7917525172233582, -1.3960098028182983, 0.8077744841575623, 1.3498512506484985, 0.6326771974563599, -2.8952085971832275, -0.015958162024617195, 0.015958162024617195, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5318150520324707, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7913710474967957, -1.3986800909042358, 0.812352180480957, 1.350232720375061, 0.6334401369094849, -2.8952085971832275, -0.014824550598859787, 0.014824550598859787, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5318150520324707, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7894636392593384, -1.4009689092636108, 0.8150225281715393, 1.352521538734436, 0.6330586671829224, -2.8952085971832275, -0.01280754990875721, 0.01280754990875721, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7856488823890686, -1.4024949073791504, 0.8161669373512268, 1.3521400690078735, 0.6330586671829224, -2.8952085971832275, -0.012526738457381725, 0.012526738457381725, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7822155952453613, -1.403639316558838, 0.8161669373512268, 1.351758599281311, 0.6326771974563599, -2.8952085971832275, -0.01166441198438406, 0.01166441198438406, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7803082466125488, -1.404402256011963, 0.8169298768043518, 1.351758599281311, 0.6330586671829224, -2.8952085971832275, -0.011469440534710884, 0.011469440534710884, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7768749594688416, -1.4055466651916504, 0.8184558153152466, 1.351758599281311, 0.6338216066360474, -2.8952085971832275, -0.010817945003509521, 0.010817945003509521, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7749675512313843, -1.406691074371338, 0.8192187547683716, 1.350232720375061, 0.6345845460891724, -2.8952085971832275, -0.010222172364592552, 0.010222172364592552, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7726787328720093, -1.4078354835510254, 0.8192187547683716, 1.350232720375061, 0.6357290148735046, -2.89559006690979, -0.008737578988075256, 0.008737578988075256, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.770008385181427, -1.408216953277588, 0.8192187547683716, 1.350995659828186, 0.6357290148735046, -2.89559006690979, -0.008090701885521412, 0.008090701885521412, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7688639760017395, -1.408979892730713, 0.8203631639480591, 1.3513771295547485, 0.6338216066360474, -2.89559006690979, -0.0071081239730119705, 0.0071081239730119705, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7661936283111572, -1.4101243019104004, 0.8211261034011841, 1.351758599281311, 0.6322957277297974, -2.89559006690979, -0.0059654489159584045, 0.0059654489159584045, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7639048099517822, -1.410887360572815, 0.8211261034011841, 1.3521400690078735, 0.6288624405860901, -2.8952085971832275, -0.004917583893984556, 0.004917583893984556, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7623788714408875, -1.4112688302993774, 0.8211261034011841, 1.3521400690078735, 0.6242847442626953, -2.8952085971832275, -0.0005442132242023945, 0.0005442132242023945, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7612344622612, -1.41165030002594, 0.8211261034011841, 1.3521400690078735, 0.6212329268455505, -2.89559006690979, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7612344622612, -1.41165030002594, 0.8211261034011841, 1.3521400690078735, 0.6197070479393005, -2.89559006690979, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7612344622612, -1.410887360572815, 0.8207446336746216, 1.3521400690078735, 0.6177996397018433, -2.89559006690979, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7608529925346375, -1.408216953277588, 0.8173113465309143, 1.351758599281311, 0.6166552305221558, -2.89559006690979, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7608529925346375, -1.4017318487167358, 0.8096818327903748, 1.351758599281311, 0.6170367002487183, -2.89559006690979, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7612344622612, -1.3929579257965088, 0.7997635006904602, 1.351758599281311, 0.6174181699752808, -2.8959715366363525, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7639048099517822, -1.3841840028762817, 0.7906080484390259, 1.349469780921936, 0.6177996397018433, -2.8959715366363525, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7681010365486145, -1.3761730194091797, 0.7829785346984863, 1.349469780921936, 0.6185625791549683, -2.8959715366363525, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7722972631454468, -1.3685435056686401, 0.7745860815048218, 1.3490883111953735, 0.620088517665863, -2.8959715366363525, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7753490209579468, -1.362058401107788, 0.7673380374908447, 1.3490883111953735, 0.6212329268455505, -2.8959715366363525, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7806897163391113, -1.356717824935913, 0.7608529925346375, 1.3490883111953735, 0.6239032745361328, -2.896353006362915, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -1.350232720375061, 0.7536049485206604, 1.3490883111953735, 0.6269550919532776, -2.8967344760894775, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7898451089859009, -1.3433661460876465, 0.7444495558738708, 1.349469780921936, 0.6322957277297974, -2.8990235328674316, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7955672740936279, -1.3361181020736694, 0.7364385724067688, 1.349469780921936, 0.6364919543266296, -2.899405002593994, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8016708493232727, -1.3303959369659424, 0.7295719981193542, 1.349469780921936, 0.6403067111968994, -2.899405002593994, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8070115447044373, -1.3246738910675049, 0.7227054238319397, 1.3498512506484985, 0.6429770588874817, -2.899405002593994, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.813115119934082, -1.3185702562332153, 0.7162203192710876, 1.3498512506484985, 0.647936224937439, -2.8997864723205566, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8184558153152466, -1.3132295608520508, 0.7104982137680054, 1.3498512506484985, 0.6506065726280212, -2.8997864723205566, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8222705721855164, -1.3071259260177612, 0.7036316394805908, 1.350232720375061, 0.6540398001670837, -2.8997864723205566, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8245593905448914, -1.3002593517303467, 0.6948577165603638, 1.351758599281311, 0.655947208404541, -2.8997864723205566, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8264667987823486, -1.2930114269256592, 0.6864652633666992, 1.351758599281311, 0.6586175560951233, -2.900167942047119, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8287556171417236, -1.284618854522705, 0.6784542798995972, 1.350995659828186, 0.6593804955482483, -2.900167942047119, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8321889042854309, -1.27775239944458, 0.6731135845184326, 1.3498512506484985, 0.6597619652748108, -2.900167942047119, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8371480703353882, -1.2731746435165405, 0.6692988276481628, 1.349469780921936, 0.6612878441810608, -2.9005494117736816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -1.269741415977478, 0.6662470698356628, 1.349469780921936, 0.6624323129653931, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8443961143493652, -1.265545129776001, 0.6624323129653931, 1.349469780921936, 0.6628137826919556, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -1.2602044343948364, 0.6578545570373535, 1.350232720375061, 0.6635767221450806, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8508812189102173, -1.255245327949524, 0.6525139212608337, 1.350232720375061, 0.6643396615982056, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8539330363273621, -1.2510490417480469, 0.6475547552108765, 1.3513771295547485, 0.6654840707778931, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8581292629241943, -1.2460898160934448, 0.6425955891609192, 1.3513771295547485, 0.6666285395622253, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8619440197944641, -1.2403677701950073, 0.6368734240531921, 1.350995659828186, 0.6670100092887878, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8649957776069641, -1.2346456050872803, 0.6303883194923401, 1.3506141901016235, 0.6673914790153503, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8680475950241089, -1.2289234399795532, 0.6242847442626953, 1.3521400690078735, 0.6673914790153503, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, -1.2235828638076782, 0.6177996397018433, 1.3513771295547485, 0.6677729487419128, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8722438216209412, -1.2193865776062012, 0.6132219433784485, 1.351758599281311, 0.6689173579216003, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8752956390380859, -1.2155718803405762, 0.6097886562347412, 1.3513771295547485, 0.6685358881950378, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8783474564552307, -1.2121385335922241, 0.6059738993644714, 1.349469780921936, 0.6681544184684753, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8813992738723755, -1.2079423666000366, 0.6021591424942017, 1.3513771295547485, 0.6681544184684753, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07534141838550568, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8836880922317505, -1.2037460803985596, 0.5979629158973694, 1.3506141901016235, 0.6673914790153503, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8867399096488953, -1.1987868547439575, 0.5933852195739746, 1.351758599281311, 0.6673914790153503, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07495994865894318, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8894102573394775, -1.192301869392395, 0.5872815847396851, 1.351758599281311, 0.6673914790153503, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.89131760597229, -1.1861982345581055, 0.5804150700569153, 1.351758599281311, 0.6673914790153503, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.086785688996315, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8932250142097473, -1.1789501905441284, 0.5727855563163757, 1.351758599281311, 0.6673914790153503, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8947508931159973, -1.1732280254364014, 0.5666819214820862, 1.3513771295547485, 0.6673914790153503, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8962767720222473, -1.1694133281707764, 0.5628671646118164, 1.3513771295547485, 0.6673914790153503, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8981841802597046, -1.1667429208755493, 0.5601968169212341, 1.3498512506484985, 0.6673914790153503, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9008545279502869, -1.1644541025161743, 0.5582894682884216, 1.3498512506484985, 0.6673914790153503, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9035248160362244, -1.1610208749771118, 0.5556191205978394, 1.3506141901016235, 0.6670100092887878, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.0871671661734581, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9042877554893494, -1.1583504676818848, 0.5518043637275696, 1.351758599281311, 0.6670100092887878, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.086785688996315, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9054322242736816, -1.1564431190490723, 0.5495155453681946, 1.3521400690078735, 0.6639581918716431, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.086785688996315, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9061951637268066, -1.1545357704162598, 0.5460822582244873, 1.352521538734436, 0.6586175560951233, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.086785688996315, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9065766334533691, -1.1545357704162598, 0.543411910533905, 1.3529030084609985, 0.6528953909873962, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07457847148180008, -0.009727626107633114, -1.5321965217590332, -0.086785688996315, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9073395729064941, -1.1545357704162598, 0.5415045619010925, 1.3529030084609985, 0.6437399983406067, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07419699430465698, -0.009727626107633114, -1.5321965217590332, -0.086785688996315, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9073395729064941, -1.1549172401428223, 0.5403600931167603, 1.3529030084609985, 0.6338216066360474, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07381551712751389, -0.009727626107633114, -1.5321965217590332, -0.086785688996315, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9081025123596191, -1.1556801795959473, 0.5376898050308228, 1.352521538734436, 0.6258106231689453, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07381551712751389, -0.009727626107633114, -1.5321965217590332, -0.086785688996315, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9107728600502014, -1.1552987098693848, 0.535400927066803, 1.352521538734436, 0.6239032745361328, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07381551712751389, -0.009727626107633114, -1.5321965217590332, -0.086785688996315, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9122987985610962, -1.1549172401428223, 0.5342565178871155, 1.3521400690078735, 0.6231403350830078, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07381551712751389, -0.009727626107633114, -1.5321965217590332, -0.086785688996315, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9153505563735962, -1.1549172401428223, 0.5334935784339905, 1.350232720375061, 0.621614396572113, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07305257022380829, -0.009727626107633114, -1.5321965217590332, -0.086785688996315, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9180209040641785, -1.1537728309631348, 0.5323491096496582, 1.349469780921936, 0.6212329268455505, -2.903219699859619, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07305257022380829, -0.009727626107633114, -1.5321965217590332, -0.0864042118191719, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9214541912078857, -1.1514838933944702, 0.5315861701965332, 1.350232720375061, 0.6219958662986755, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5321965217590332, -0.0864042118191719, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.926413357257843, -1.1491950750350952, 0.5315861701965332, 1.3521400690078735, 0.6254291534423828, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5321965217590332, -0.0864042118191719, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9302281141281128, -1.1476691961288452, 0.5312047004699707, 1.3521400690078735, 0.6300068497657776, -2.9036011695861816, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.0864042118191719, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9332799315452576, -1.1453803777694702, 0.5296788215637207, 1.351758599281311, 0.6334401369094849, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.0864042118191719, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9348058104515076, -1.1430914402008057, 0.5273899435997009, 1.351758599281311, 0.6364919543266296, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07305257022380829, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9367132186889648, -1.1404211521148682, 0.5239566564559937, 1.3513771295547485, 0.6368734240531921, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9367132186889648, -1.1373693943023682, 0.5209048390388489, 1.351758599281311, 0.6364919543266296, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5321965217590332, -0.08602273464202881, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9367132186889648, -1.1343175172805786, 0.5178530812263489, 1.3513771295547485, 0.6368734240531921, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5283818244934082, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9367132186889648, -1.1312657594680786, 0.5144197940826416, 1.3513771295547485, 0.6357290148735046, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08564125746488571, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9370946884155273, -1.128213882446289, 0.5109865069389343, 1.3513771295547485, 0.6342030763626099, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9378576278686523, -1.1247806549072266, 0.5079346895217896, 1.3513771295547485, 0.6322957277297974, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08564125746488571, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9393835067749023, -1.122110366821289, 0.5048828721046448, 1.350232720375061, 0.6307697892189026, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9405279755592346, -1.1205843687057495, 0.5041199326515198, 1.350232720375061, 0.6292439103126526, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08564125746488571, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9416723847389221, -1.118677020072937, 0.5029755234718323, 1.350995659828186, 0.6284809708595276, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9435797929763794, -1.117914080619812, 0.5025940537452698, 1.350995659828186, 0.6280995011329651, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5283818244934082, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9443427324295044, -1.117914080619812, 0.5025940537452698, 1.3513771295547485, 0.6261920928955078, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9466315507888794, -1.117914080619812, 0.5025940537452698, 1.3513771295547485, 0.6261920928955078, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9489204287528992, -1.1167696714401245, 0.50030517578125, 1.351758599281311, 0.6261920928955078, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9504463076591492, -1.1144808530807495, 0.4976348578929901, 1.3513771295547485, 0.6258106231689453, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.11295485496521, 0.4953460097312927, 1.351758599281311, 0.6254291534423828, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1118104457855225, 0.49420157074928284, 1.3513771295547485, 0.6254291534423828, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5325779914855957, -0.08602273464202881, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1118104457855225, 0.49382010102272034, 1.3513771295547485, 0.6254291534423828, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.07267109304666519, -0.009727626107633114, -1.5333409309387207, -0.08602273464202881, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1118104457855225, 0.49382010102272034, 1.3513771295547485, 0.6254291534423828, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.06618601083755493, -0.004005493130534887, -1.5337224006652832, -0.08335240930318832, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1118104457855225, 0.49305713176727295, 1.351758599281311, 0.6239032745361328, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8966583013534546, -0.054741740226745605, 0.029564354568719864, -1.5363928079605103, -0.07877469807863235, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1118104457855225, 0.49229419231414795, 1.3513771295547485, 0.6197070479393005, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8852140307426453, -0.049782559275627136, 0.10776684433221817, -1.5375372171401978, -0.03032730519771576, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1118104457855225, 0.49229419231414795, 1.3513771295547485, 0.6174181699752808, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.8253223299980164, -0.06694895774126053, 0.2149614691734314, -1.5337224006652832, 0.06542305648326874, 1.5280003547668457, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1118104457855225, 0.49076828360557556, 1.351758599281311, 0.6166552305221558, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.7143129706382751, -0.1035706102848053, 0.33054855465888977, -1.505874752998352, 0.17528800666332245, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.112191915512085, 0.49000534415245056, 1.351758599281311, 0.6147478222846985, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.5487525463104248, -0.18520638346672058, 0.46025025844573975, -1.489852786064148, 0.33131152391433716, 1.5280003547668457, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1137179136276245, 0.48962387442588806, 1.3513771295547485, 0.614366352558136, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.3892957866191864, -0.3068970739841461, 0.5884260535240173, -1.484893560409546, 0.5151827335357666, 1.5127413272857666, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.4888609051704407, 1.3513771295547485, 0.6139848828315735, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.2973601818084717, -0.45719844102859497, 0.7059205174446106, -1.5245670080184937, 0.6845578551292419, 1.4925230741500854, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1152437925338745, 0.4888609051704407, 1.351758599281311, 0.6139848828315735, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.2466239482164383, -0.6361104846000671, 0.812352180480957, -1.6069657802581787, 0.84744793176651, 1.4776455163955688, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.4880979657173157, 1.3513771295547485, 0.6139848828315735, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.20771344006061554, -0.810826301574707, 0.9092469811439514, -1.6618982553482056, 0.9691386222839355, 1.4471274614334106, -0.00018886369070969522, 0.00018886369070969522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1137179136276245, 0.4877164959907532, 1.3513771295547485, 0.613603413105011, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.1668955534696579, -0.9710460305213928, 0.995078980922699, -1.6706721782684326, 1.045433759689331, 1.41165030002594, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.11295485496521, 0.4877164959907532, 1.3513771295547485, 0.6139848828315735, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.12760357558727264, -1.107614278793335, 1.0740443468093872, -1.658083438873291, 1.0885404348373413, 1.3826581239700317, -0.004881858825683594, 0.004881858825683594], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.11295485496521, 0.4877164959907532, 1.3513771295547485, 0.614366352558136, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.10433356463909149, -1.2193865776062012, 1.1442358493804932, -1.641298532485962, 1.104943871498108, 1.3624398708343506, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1125733852386475, 0.4877164959907532, 1.3513771295547485, 0.615129292011261, -2.9043641090393066, -0.000536960840690881, 0.000536960840690881, 0.09479667246341705, -1.3136110305786133, 1.2113755941390991, -1.6248950958251953, 1.10990309715271, 1.351758599281311, -0.022482287138700485, 0.022482287138700485], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.11142897605896, 0.4877164959907532, 1.3513771295547485, 0.6166552305221558, -2.9043641090393066, -0.000536960840690881, 0.000536960840690881, 0.0875486359000206, -1.3956283330917358, 1.2731746435165405, -1.6157397031784058, 1.110666036605835, 1.350995659828186, -0.023089563474059105, 0.023089563474059105], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.110666036605835, 0.4877164959907532, 1.3513771295547485, 0.6170367002487183, -2.904745578765869, -0.000536960840690881, 0.000536960840690881, 0.08144503086805344, -1.4650568962097168, 1.3288700580596924, -1.6153582334518433, 1.1110475063323975, 1.350995659828186, -0.023089563474059105, 0.023089563474059105], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1102845668792725, 0.4877164959907532, 1.3513771295547485, 0.6170367002487183, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.07610437273979187, -1.5257114171981812, 1.3784618377685547, -1.6153582334518433, 1.1182955503463745, 1.3521400690078735, -0.023089563474059105, 0.023089563474059105], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4877164959907532, 1.3513771295547485, 0.6174181699752808, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.06847485899925232, -1.571107029914856, 1.409742832183838, -1.6157397031784058, 1.1255435943603516, 1.3563363552093506, -0.023089563474059105, 0.023089563474059105], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4869535267353058, 1.3513771295547485, 0.6174181699752808, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.05703059583902359, -1.6008621454238892, 1.426909327507019, -1.6203173398971558, 1.122110366821289, 1.3635843992233276, -0.023089563474059105, 0.023089563474059105], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.109140157699585, 0.4869535267353058, 1.3513771295547485, 0.6177996397018433, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.04482337832450867, -1.6222248077392578, 1.4360647201538086, -1.6237506866455078, 1.122110366821289, 1.3673990964889526, -0.023089563474059105, 0.023089563474059105], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1095216274261475, 0.4869535267353058, 1.3513771295547485, 0.6177996397018433, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.03337911143898964, -1.6344319581985474, 1.437972068786621, -1.6233692169189453, 1.1278324127197266, 1.3708323240280151, -0.023099511861801147, 0.023099511861801147], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1095216274261475, 0.4869535267353058, 1.3513771295547485, 0.6174181699752808, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.023460745811462402, -1.640535593032837, 1.436446189880371, -1.6233692169189453, 1.1404211521148682, 1.3742656707763672, -0.023089563474059105, 0.023089563474059105], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1095216274261475, 0.4869535267353058, 1.3513771295547485, 0.6177996397018433, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.01773861236870289, -1.643587350845337, 1.4311054944992065, -1.6226062774658203, 1.1518653631210327, 1.3746471405029297, -0.02306966856122017, 0.02306966856122017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1095216274261475, 0.4869535267353058, 1.3513771295547485, 0.6177996397018433, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.015449759550392628, -1.6451133489608765, 1.4185168743133545, -1.6142138242721558, 1.1564431190490723, 1.3750286102294922, -0.023039821535348892, 0.023039821535348892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1095216274261475, 0.4869535267353058, 1.3513771295547485, 0.6177996397018433, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.013923857361078262, -1.6451133489608765, 1.4032578468322754, -1.6054397821426392, 1.1556801795959473, 1.3750286102294922, -0.02284078672528267, 0.02284078672528267], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.109140157699585, 0.4858091175556183, 1.3513771295547485, 0.6177996397018433, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.012779430486261845, -1.643587350845337, 1.3876173496246338, -1.6042953729629517, 1.1484321355819702, 1.3754100799560547, -0.021246783435344696, 0.021246783435344696], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.109140157699585, 0.4846646785736084, 1.3513771295547485, 0.6174181699752808, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.012779430486261845, -1.6416800022125244, 1.3754100799560547, -1.6008621454238892, 1.1400396823883057, 1.3757915496826172, -0.019984543323516846, 0.019984543323516846], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4842832088470459, 1.351758599281311, 0.6170367002487183, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.012779430486261845, -1.641298532485962, 1.3689249753952026, -1.5981918573379517, 1.1331731081008911, 1.3780803680419922, -0.018564198166131973, 0.018564198166131973], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4842832088470459, 1.351758599281311, 0.6170367002487183, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.012779430486261845, -1.641298532485962, 1.3654917478561401, -1.5970473289489746, 1.1247806549072266, 1.3780803680419922, -0.017230452969670296, 0.017230452969670296], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4842832088470459, 1.351758599281311, 0.6162737607955933, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.012779430486261845, -1.641298532485962, 1.3632028102874756, -1.597428798675537, 1.116388201713562, 1.3780803680419922, -0.015261913649737835, 0.015261913649737835], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4842832088470459, 1.351758599281311, 0.6158922910690308, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.012779430486261845, -1.6409170627593994, 1.3624398708343506, -1.5970473289489746, 1.1079957485198975, 1.3780803680419922, -0.014741252176463604, 0.014741252176463604], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4842832088470459, 1.351758599281311, 0.6155108213424683, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.012397955171763897, -1.641298532485962, 1.3616769313812256, -1.597428798675537, 1.104180932044983, 1.3784618377685547, -0.013780812732875347, 0.013780812732875347], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4842832088470459, 1.351758599281311, 0.6155108213424683, -2.9066529273986816, -0.000536960840690881, 0.000536960840690881, 0.01201647985726595, -1.643587350845337, 1.3616769313812256, -1.5970473289489746, 1.101892113685608, 1.3784618377685547, -0.013447612524032593, 0.013447612524032593], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4846646785736084, 1.351758599281311, 0.6166552305221558, -2.907034397125244, -0.000536960840690881, 0.000536960840690881, 0.01201647985726595, -1.6466392278671265, 1.3616769313812256, -1.597428798675537, 1.0984588861465454, 1.3784618377685547, -0.012886940501630306, 0.012886940501630306], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4854276478290558, 1.351758599281311, 0.6170367002487183, -2.907034397125244, -0.000536960840690881, 0.000536960840690881, 0.01201647985726595, -1.651598334312439, 1.361295461654663, -1.597428798675537, 1.0984588861465454, 1.3780803680419922, -0.012075401842594147, 0.012075401842594147], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4858091175556183, 1.351758599281311, 0.6170367002487183, -2.907034397125244, -0.000536960840690881, 0.000536960840690881, 0.01201647985726595, -1.655794620513916, 1.3609139919281006, -1.5985733270645142, 1.098077416419983, 1.3784618377685547, -0.01078494731336832, 0.01078494731336832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4861905872821808, 1.3513771295547485, 0.6174181699752808, -2.907034397125244, -0.000536960840690881, 0.000536960840690881, 0.01201647985726595, -1.658846378326416, 1.3593881130218506, -1.5989547967910767, 1.098840355873108, 1.3784618377685547, -0.01055509690195322, 0.01055509690195322], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4861905872821808, 1.351758599281311, 0.6174181699752808, -2.907034397125244, -0.000536960840690881, 0.000536960840690881, 0.011635004542768002, -1.661516785621643, 1.359006643295288, -1.6000992059707642, 1.098840355873108, 1.3788433074951172, -0.00848227459937334, 0.00848227459937334], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4861905872821808, 1.351758599281311, 0.6177996397018433, -2.907034397125244, -0.000536960840690881, 0.000536960840690881, 0.01125352829694748, -1.662279725074768, 1.3593881130218506, -1.5997177362442017, 1.098077416419983, 1.3815137147903442, -0.006271236576139927, 0.006271236576139927], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4861905872821808, 1.3513771295547485, 0.6177996397018433, -2.907034397125244, -0.000536960840690881, 0.000536960840690881, 0.01125352829694748, -1.6626611948013306, 1.3593881130218506, -1.596665859222412, 1.098077416419983, 1.3818951845169067, -0.005621856544166803, 0.005621856544166803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1095216274261475, 0.4869535267353058, 1.351758599281311, 0.6177996397018433, -2.907034397125244, -0.000536960840690881, 0.000536960840690881, 0.010872052982449532, -1.663042664527893, 1.359006643295288, -1.6004806756973267, 1.098077416419983, 1.3818951845169067, -0.005621856544166803, 0.005621856544166803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1095216274261475, 0.4869535267353058, 1.351758599281311, 0.6177996397018433, -2.907034397125244, -0.000536960840690881, 0.000536960840690881, 0.01125352829694748, -1.663042664527893, 1.359006643295288, -1.6088731288909912, 1.0976959466934204, 1.3818951845169067, -0.005621856544166803, 0.005621856544166803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1095216274261475, 0.4869535267353058, 1.351758599281311, 0.6177996397018433, -2.907034397125244, -0.000536960840690881, 0.000536960840690881, 0.011635004542768002, -1.6603723764419556, 1.3586251735687256, -1.6172655820846558, 1.0969328880310059, 1.3815137147903442, -0.005621856544166803, 0.005621856544166803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1095216274261475, 0.4869535267353058, 1.3521400690078735, 0.6181811094284058, -2.911612033843994, -0.000536960840690881, 0.000536960840690881, 0.011635004542768002, -1.6489280462265015, 1.359006643295288, -1.640535593032837, 1.101129174232483, 1.3780803680419922, -0.005311072804033756, 0.005311072804033756], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1095216274261475, 0.4858091175556183, 1.3521400690078735, 0.6185625791549683, -2.953192949295044, -0.000536960840690881, 0.000536960840690881, 0.009727626107633114, -1.6237506866455078, 1.3673990964889526, -1.6554131507873535, 1.102655053138733, 1.3776988983154297, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.109140157699585, 0.4858091175556183, 1.3521400690078735, 0.6181811094284058, -2.9795148372650146, -0.000536960840690881, 0.000536960840690881, 0.009727626107633114, -1.5932326316833496, 1.3830395936965942, -1.661516785621643, 1.10990309715271, 1.3609139919281006, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.109140157699585, 0.4858091175556183, 1.3521400690078735, 0.6181811094284058, -2.9940109252929688, -0.000536960840690881, 0.000536960840690881, 0.011635004542768002, -1.5577553510665894, 1.4032578468322754, -1.663042664527893, 1.118677020072937, 1.3403143882751465, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.109140157699585, 0.4854276478290558, 1.351758599281311, 0.6177996397018433, -3.0016403198242188, -0.000536960840690881, 0.000536960840690881, 0.01125352829694748, -1.519226312637329, 1.421950101852417, -1.6687648296356201, 1.1293584108352661, 1.3220034837722778, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.109140157699585, 0.4854276478290558, 1.351758599281311, 0.6174181699752808, -3.0058364868164062, -0.000536960840690881, 0.000536960840690881, 0.010109102353453636, -1.4780269861221313, 1.4440757036209106, -1.6714351177215576, 1.1354619264602661, 1.3056000471115112, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4850461483001709, 1.351758599281311, 0.6174181699752808, -3.008507013320923, -0.000536960840690881, 0.000536960840690881, 0.010109102353453636, -1.434920310974121, 1.4738308191299438, -1.6718165874481201, 1.1484321355819702, 1.2834744453430176, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4850461483001709, 1.351758599281311, 0.6166552305221558, -3.008507013320923, -0.000536960840690881, 0.000536960840690881, 0.010872052982449532, -1.3883802890777588, 1.5093079805374146, -1.6691462993621826, 1.1598763465881348, 1.2571526765823364, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4850461483001709, 1.3521400690078735, 0.6162737607955933, -3.008507013320923, -0.000536960840690881, 0.000536960840690881, 0.010490577667951584, -1.3361181020736694, 1.5535591840744019, -1.644731879234314, 1.1633096933364868, 1.2060348987579346, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1087586879730225, 0.4850461483001709, 1.351758599281311, 0.6158922910690308, -3.0088884830474854, -0.000536960840690881, 0.000536960840690881, 0.010109102353453636, -1.2872892618179321, 1.5997177362442017, -1.5707255601882935, 1.1633096933364868, 1.1358433961868286, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.110666036605835, 0.4858091175556183, 1.351758599281311, 0.615129292011261, -3.0088884830474854, -0.000536960840690881, 0.000536960840690881, 0.011635004542768002, -1.2460898160934448, 1.6481651067733765, -1.4581903219223022, 1.1636911630630493, 1.043907880783081, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.110666036605835, 0.4865720570087433, 1.351758599281311, 0.6147478222846985, -3.0088884830474854, -0.000536960840690881, 0.000536960840690881, 0.02841992862522602, -1.2266346216201782, 1.6981383562088013, -1.336499571800232, 1.19459068775177, 0.9344243407249451, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1118104457855225, 0.4869535267353058, 1.351758599281311, 0.614366352558136, -3.009, -0.000536960840690881, 0.000536960840690881, 0.08487831056118011, -1.2258716821670532, 1.7492561340332031, -1.268596887588501, 1.2392233610153198, 0.8405813574790955, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1118104457855225, 0.4869535267353058, 1.351758599281311, 0.6139848828315735, -3.009, -0.000536960840690881, 0.000536960840690881, 0.17452506721019745, -1.2460898160934448, 1.7996108531951904, -1.265545129776001, 1.2827115058898926, 0.776493489742279, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1118104457855225, 0.4869535267353058, 1.351758599281311, 0.6139848828315735, -3.009, -0.000536960840690881, 0.000536960840690881, 0.2603570520877838, -1.2872892618179321, 1.8575952053070068, -1.2899595499038696, 1.338788390159607, 0.7219424843788147, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1118104457855225, 0.4877164959907532, 1.351758599281311, 0.613603413105011, -3.009, -0.000536960840690881, 0.000536960840690881, 0.33360037207603455, -1.344510555267334, 1.9182498455047607, -1.3097963333129883, 1.3879988193511963, 0.6773098111152649, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.112191915512085, 0.4877164959907532, 1.351758599281311, 0.613603413105011, -3.009, -0.000536960840690881, 0.000536960840690881, 0.3919661343097687, -1.3975356817245483, 1.963645339012146, -1.3261997699737549, 1.422713041305542, 0.6437399983406067, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.112191915512085, 0.4877164959907532, 1.351758599281311, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.4377431869506836, -1.4475089311599731, 1.9945448637008667, -1.3551918268203735, 1.4448386430740356, 0.6185625791549683, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.112191915512085, 0.4880979657173157, 1.351758599281311, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.4686427116394043, -1.4868009090423584, 2.0113298892974854, -1.3868544101715088, 1.4600976705551147, 0.6036850810050964, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1125733852386475, 0.4888609051704407, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.49420157074928284, -1.517700433731079, 2.020103693008423, -1.4047837257385254, 1.4765011072158813, 0.5956740379333496, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.113336443901062, 0.49000534415245056, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5109865069389343, -1.5386816263198853, 2.0243000984191895, -1.4143205881118774, 1.489089846611023, 0.5918593406677246, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114099383354187, 0.49000534415245056, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5151827335357666, -1.5470740795135498, 2.0258259773254395, -1.426909327507019, 1.4940489530563354, 0.5888075232505798, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1152437925338745, 0.49191272258758545, 1.3521400690078735, 0.6124590039253235, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5220493078231812, -1.5650033950805664, 2.0281147956848145, -1.435683250427246, 1.5062562227249146, 0.5849927663803101, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.115625262260437, 0.49229419231414795, 1.351758599281311, 0.6124590039253235, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5270084738731384, -1.5730143785476685, 2.028496265411377, -1.4337759017944336, 1.5115967988967896, 0.5849927663803101, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.115625262260437, 0.49229419231414795, 1.351758599281311, 0.6124590039253235, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5270084738731384, -1.579880952835083, 2.0288777351379395, -1.4375905990600586, 1.519226312637329, 0.5849927663803101, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.115625262260437, 0.49229419231414795, 1.351758599281311, 0.6124590039253235, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5262455344200134, -1.5859845876693726, 2.0288777351379395, -1.4383535385131836, 1.5230411291122437, 0.5849927663803101, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.115625262260437, 0.49229419231414795, 1.351758599281311, 0.6124590039253235, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5289158225059509, -1.5939955711364746, 2.0288777351379395, -1.4368276596069336, 1.5302891731262207, 0.5849927663803101, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.115625262260437, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5289158225059509, -1.6008621454238892, 2.0281147956848145, -1.436446189880371, 1.5344853401184082, 0.5849927663803101, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.115625262260437, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5285343527793884, -1.6088731288909912, 2.026970386505127, -1.436446189880371, 1.5367742776870728, 0.5849927663803101, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1152437925338745, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5289158225059509, -1.6161211729049683, 2.024681568145752, -1.434157371520996, 1.5371557474136353, 0.5849927663803101, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1152437925338745, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5289158225059509, -1.6226062774658203, 2.023155450820923, -1.434157371520996, 1.5371557474136353, 0.5849927663803101, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1152437925338745, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5285343527793884, -1.6287097930908203, 2.0212481021881104, -1.4345388412475586, 1.5367742776870728, 0.5849927663803101, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1152437925338745, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5289158225059509, -1.6340504884719849, 2.018577814102173, -1.434157371520996, 1.5360113382339478, 0.5849927663803101, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5289158225059509, -1.6393911838531494, 2.0136187076568604, -1.434157371520996, 1.5325779914855957, 0.5853742361068726, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5289158225059509, -1.6439688205718994, 2.0059890747070312, -1.434157371520996, 1.5295262336730957, 0.5853742361068726, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5296788215637207, -1.6466392278671265, 1.9960707426071167, -1.434157371520996, 1.5280003547668457, 0.5853742361068726, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5308232307434082, -1.6496909856796265, 1.9850080013275146, -1.4337759017944336, 1.5241855382919312, 0.5853742361068726, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5312047004699707, -1.650072455406189, 1.9747081995010376, -1.4337759017944336, 1.5211337804794312, 0.5853742361068726, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5315861701965332, -1.651598334312439, 1.963645339012146, -1.4337759017944336, 1.519226312637329, 0.5853742361068726, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5331120491027832, -1.651598334312439, 1.952582597732544, -1.4337759017944336, 1.5173189640045166, 0.5853742361068726, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.3521400690078735, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5334935784339905, -1.6512168645858765, 1.9411382675170898, -1.4333943128585815, 1.5108338594436646, 0.5857557058334351, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5334935784339905, -1.6512168645858765, 1.9335087537765503, -1.4337759017944336, 1.5070191621780396, 0.5857557058334351, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.3521400690078735, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5334935784339905, -1.6512168645858765, 1.9277867078781128, -1.4337759017944336, 1.5012969970703125, 0.5857557058334351, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.3521400690078735, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.534637987613678, -1.6519798040390015, 1.9239718914031982, -1.4337759017944336, 1.495956301689148, 0.5861371755599976, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.3521400690078735, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5365453362464905, -1.653505802154541, 1.9220645427703857, -1.4337759017944336, 1.4909971952438354, 0.5861371755599976, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -1.655031681060791, 1.9201571941375732, -1.4337759017944336, 1.4860379695892334, 0.5865186452865601, -0.0050977193750441074, 0.0050977193750441074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.3521400690078735, 0.612840473651886, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5376898050308228, -1.6569390296936035, 1.9190127849578857, -1.4337759017944336, 1.484130620956421, 0.5888075232505798, -0.005280382465571165, 0.005280382465571165], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.3521400690078735, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5380712747573853, -1.658083438873291, 1.9182498455047607, -1.4337759017944336, 1.4806973934173584, 0.5891889929771423, -0.006304136477410793, 0.006304136477410793], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5380712747573853, -1.658083438873291, 1.9182498455047607, -1.4337759017944336, 1.4780269861221313, 0.5891889929771423, -0.010416526347398758, 0.010416526347398758], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5384527444839478, -1.658083438873291, 1.9182498455047607, -1.4337759017944336, 1.4715418815612793, 0.5987258553504944, -0.01408945582807064, 0.01408945582807064], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49229419231414795, 1.351758599281311, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5384527444839478, -1.6577019691467285, 1.9182498455047607, -1.434157371520996, 1.4677271842956543, 0.6078813076019287, -0.01485234871506691, 0.01485234871506691], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49191272258758545, 1.3521400690078735, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5384527444839478, -1.6546502113342285, 1.9182498455047607, -1.434157371520996, 1.4627679586410522, 0.6124590039253235, -0.016204867511987686, 0.016204867511987686], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49153125286102295, 1.351758599281311, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5384527444839478, -1.6474021673202515, 1.9182498455047607, -1.434920310974121, 1.4574273824691772, 0.6158922910690308, -0.01621437817811966, 0.01621437817811966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49114975333213806, 1.3521400690078735, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5384527444839478, -1.6344319581985474, 1.9182498455047607, -1.434920310974121, 1.4490348100662231, 0.6166552305221558, -0.01621437817811966, 0.01621437817811966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49114975333213806, 1.3521400690078735, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5384527444839478, -1.6138323545455933, 1.9182498455047607, -1.434920310974121, 1.4375905990600586, 0.619325578212738, -0.016071897000074387, 0.016071897000074387], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49114975333213806, 1.3521400690078735, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5384527444839478, -1.5836957693099976, 1.9182498455047607, -1.4345388412475586, 1.4173723459243774, 0.619325578212738, -0.010950345546007156, 0.010950345546007156], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49114975333213806, 1.351758599281311, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5384527444839478, -1.5447852611541748, 1.9182498455047607, -1.4246203899383545, 1.3895246982574463, 0.619325578212738, -0.0010269833728671074, 0.0010269833728671074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49114975333213806, 1.351758599281311, 0.6132219433784485, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5384527444839478, -1.495193362236023, 1.9029908180236816, -1.3933393955230713, 1.3551918268203735, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49114975333213806, 1.351758599281311, 0.6139848828315735, -3.009, -0.000536960840690881, 0.000536960840690881, 0.5384527444839478, -1.4135576486587524, 1.823262333869934, -1.3643473386764526, 1.2689783573150635, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.114862322807312, 0.49114975333213806, 1.3513771295547485, 0.6204699873924255, -3.0043106079101562, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -1.3029297590255737, 1.6828793287277222, -1.3323034048080444, 1.11295485496521, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.1167696714401245, 0.49114975333213806, 1.351758599281311, 0.6265735626220703, -3.0001144409179688, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -1.1736094951629639, 1.5119783878326416, -1.280041217803955, 0.9199283123016357, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.118677020072937, 0.49153125286102295, 1.3513771295547485, 0.6376363635063171, -2.9924850463867188, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -1.049248456954956, 1.345273494720459, -1.2239643335342407, 0.7551308274269104, 0.6197070479393005, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.120965838432312, 0.49420157074928284, 1.3513771295547485, 0.6490806341171265, -2.984473943710327, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.9306095838546753, 1.183146357536316, -1.1579689979553223, 0.612077534198761, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9485389590263367, -1.1217288970947266, 0.4972533881664276, 1.3513771295547485, 0.6601434350013733, -2.973792552947998, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.8272297382354736, 1.0320820808410645, -1.0927367210388184, 0.49496451020240784, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, -1.1232547760009766, 0.5018310546875, 1.351758599281311, 0.6727321147918701, -2.965400218963623, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.7360570430755615, 0.8951323628425598, -1.0343708992004395, 0.39730677008628845, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9439612627029419, -1.1263065338134766, 0.5048828721046448, 1.351758599281311, 0.6780728101730347, -2.958533525466919, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.656710147857666, 0.778019368648529, -0.9863049983978271, 0.3233005404472351, 0.6212329268455505, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, -1.1285953521728516, 0.508316159248352, 1.3521400690078735, 0.6807430982589722, -2.952430009841919, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.5888075232505798, 0.6841763854026794, -0.9435797929763794, 0.2790493667125702, 0.6219958662986755, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9386205673217773, -1.1316472291946411, 0.5106050372123718, 1.3521400690078735, 0.6818875670433044, -2.9459450244903564, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.5319676399230957, 0.615129292011261, -0.9138246774673462, 0.2611200213432312, 0.6227588057518005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9367132186889648, -1.1366063356399536, 0.5148012638092041, 1.3521400690078735, 0.6811245679855347, -2.9398412704467773, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.4877164959907532, 0.5655375123023987, -0.890554666519165, 0.2634088695049286, 0.6227588057518005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9344243407249451, -1.1430914402008057, 0.5201418995857239, 1.3521400690078735, 0.6815060377120972, -2.9367895126342773, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.4514763057231903, 0.5273899435997009, -0.8741512298583984, 0.2805752754211426, 0.622377336025238, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -1.1491950750350952, 0.5254825949668884, 1.3521400690078735, 0.6811245679855347, -2.93564510345459, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.4175249934196472, 0.49343863129615784, -0.8619440197944641, 0.291638046503067, 0.6219958662986755, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9279392957687378, -1.1552987098693848, 0.5308232307434082, 1.351758599281311, 0.6811245679855347, -2.9322118759155273, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.38090333342552185, 0.46139466762542725, -0.8550774455070496, 0.30003052949905396, 0.6219958662986755, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9233615398406982, -1.1610208749771118, 0.535400927066803, 1.3521400690078735, 0.6818875670433044, -2.93106746673584, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.3393225073814392, 0.43049514293670654, -0.8485923409461975, 0.3057526648044586, 0.620851457118988, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9180209040641785, -1.1678873300552368, 0.54112309217453, 1.3521400690078735, 0.6815060377120972, -2.9287784099578857, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.30003052949905396, 0.4053177833557129, -0.8463035225868225, 0.3065156042575836, 0.620088517665863, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9119172692298889, -1.176279902458191, 0.5479896068572998, 1.3521400690078735, 0.6815060377120972, -2.9272525310516357, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.26874953508377075, 0.3847180902957916, -0.8321889042854309, 0.3107118308544159, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9065766334533691, -1.1846723556518555, 0.5567635893821716, 1.3521400690078735, 0.6815060377120972, -2.9234378337860107, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.2450980395078659, 0.36602577567100525, -0.8188372850418091, 0.31452658772468567, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9019989371299744, -1.193827748298645, 0.5663004517555237, 1.3521400690078735, 0.6788357496261597, -2.9200046062469482, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23403525352478027, 0.3534370958805084, -0.810826301574707, 0.31719690561294556, 0.6197070479393005, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8974212408065796, -1.203364610671997, 0.576218843460083, 1.352521538734436, 0.6784542798995972, -2.9146640300750732, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.2283131182193756, 0.34618905186653137, -0.8054856061935425, 0.31795987486839294, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.892080545425415, -1.2129014730453491, 0.5869001150131226, 1.3521400690078735, 0.6780728101730347, -2.909323215484619, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.22678720951080322, 0.3423742949962616, -0.8039597272872925, 0.32024872303009033, 0.620088517665863, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8878843188285828, -1.2224383354187012, 0.5971999764442444, 1.3521400690078735, 0.6769283413887024, -2.903982639312744, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.22678720951080322, 0.3397039771080017, -0.802815318107605, 0.32101166248321533, 0.620088517665863, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -1.2285419702529907, 0.6048294901847839, 1.352521538734436, 0.6776912808418274, -2.89559006690979, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.22716869413852692, 0.3374151289463043, -0.8005264401435852, 0.3213931620121002, 0.620088517665863, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.883306622505188, -1.2331197261810303, 0.6094071865081787, 1.352521538734436, 0.6769283413887024, -2.8906309604644775, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.2290760725736618, 0.33588922023773193, -0.8001449704170227, 0.3229190409183502, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.881017804145813, -1.2357900142669678, 0.6124590039253235, 1.352521538734436, 0.6757839322090149, -2.8898680210113525, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.2309834510087967, 0.33436331152915955, -0.8001449704170227, 0.3236820101737976, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8733882904052734, -1.2376973628997803, 0.6139848828315735, 1.3521400690078735, 0.6742580533027649, -2.8868162631988525, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23327229917049408, 0.33360037207603455, -0.8001449704170227, 0.3233005404472351, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8630884289741516, -1.2384604215621948, 0.6147478222846985, 1.3521400690078735, 0.6750209927558899, -2.88338303565979, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23517967760562897, 0.33283740282058716, -0.8001449704170227, 0.3236820101737976, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, -1.2388418912887573, 0.6162737607955933, 1.352521538734436, 0.6750209927558899, -2.8814754486083984, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23517967760562897, 0.33245593309402466, -0.8001449704170227, 0.3236820101737976, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8485923409461975, -1.2415121793746948, 0.6197070479393005, 1.3529030084609985, 0.6746395230293274, -2.875753402709961, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23746852576732635, 0.33245593309402466, -0.8001449704170227, 0.3236820101737976, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8455405235290527, -1.2460898160934448, 0.6261920928955078, 1.352521538734436, 0.6719691753387451, -2.871938705444336, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23746852576732635, 0.33245593309402466, -0.8001449704170227, 0.3236820101737976, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8436331748962402, -1.2529563903808594, 0.6342030763626099, 1.3521400690078735, 0.6692988276481628, -2.868124008178711, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33245593309402466, -0.8001449704170227, 0.3236820101737976, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8424887657165527, -1.259822964668274, 0.6429770588874817, 1.3521400690078735, 0.6639581918716431, -2.8646905422210693, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33245593309402466, -0.8001449704170227, 0.3236820101737976, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8424887657165527, -1.266308069229126, 0.6521324515342712, 1.3521400690078735, 0.6582360863685608, -2.860494375228882, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33207446336746216, -0.8001449704170227, 0.3236820101737976, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8421072959899902, -1.272793173789978, 0.6597619652748108, 1.3521400690078735, 0.6548027992248535, -2.856679677963257, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33207446336746216, -0.8001449704170227, 0.3240634799003601, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8398184180259705, -1.278515338897705, 0.6673914790153503, 1.3521400690078735, 0.6513695120811462, -2.8532464504241943, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33169299364089966, -0.8001449704170227, 0.3244449496269226, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -1.284618854522705, 0.6746395230293274, 1.3521400690078735, 0.6475547552108765, -2.8524835109710693, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33169299364089966, -0.8001449704170227, 0.3255893886089325, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8352407217025757, -1.2895780801773071, 0.6811245679855347, 1.3521400690078735, 0.6445029377937317, -2.8498129844665527, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33169299364089966, -0.8001449704170227, 0.3278782367706299, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8321889042854309, -1.2937743663787842, 0.6857023239135742, 1.352521538734436, 0.6422140598297119, -2.8494315147399902, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33169299364089966, -0.8001449704170227, 0.3278782367706299, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8295185565948486, -1.2968261241912842, 0.6891355514526367, 1.3529030084609985, 0.6403067111968994, -2.8479056358337402, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33169299364089966, -0.8001449704170227, 0.3282597064971924, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8249408602714539, -1.2994964122772217, 0.691042959690094, 1.352521538734436, 0.6395437717437744, -2.8456168174743652, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33131152391433716, -0.8001449704170227, 0.3286411762237549, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8207446336746216, -1.3010224103927612, 0.691805899143219, 1.3529030084609985, 0.6395437717437744, -2.8456168174743652, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33131152391433716, -0.8001449704170227, 0.3290226459503174, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -1.3029297590255737, 0.693331778049469, 1.3529030084609985, 0.6368734240531921, -2.8452353477478027, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33131152391433716, -0.8001449704170227, 0.32978561520576477, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8127336502075195, -1.3052185773849487, 0.6956206560134888, 1.3529030084609985, 0.6364919543266296, -2.8452353477478027, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23785001039505005, 0.33131152391433716, -0.8001449704170227, 0.33131152391433716, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8096818327903748, -1.3090333938598633, 0.699816882610321, 1.3529030084609985, 0.6361104846000671, -2.8437094688415527, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23823148012161255, 0.33131152391433716, -0.8001449704170227, 0.33131152391433716, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8073930144309998, -1.3143739700317383, 0.7059205174446106, 1.3529030084609985, 0.6357290148735046, -2.8418021202087402, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23823148012161255, 0.33131152391433716, -0.8001449704170227, 0.33131152391433716, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.805867075920105, -1.3185702562332153, 0.7120240926742554, 1.3529030084609985, 0.6342030763626099, -2.8383688926696777, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23823148012161255, 0.33093002438545227, -0.8001449704170227, 0.33169299364089966, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, -1.3223849534988403, 0.7169833183288574, 1.3529030084609985, 0.6330586671829224, -2.834172487258911, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.23861294984817505, 0.33093002438545227, -0.8001449704170227, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8020523190498352, -1.3258183002471924, 0.7211795449256897, 1.352521538734436, 0.6311513185501099, -2.830357789993286, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.24013885855674744, 0.33054855465888977, -0.8001449704170227, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8001449704170227, -1.3292515277862549, 0.7257572412490845, 1.3529030084609985, 0.6280995011329651, -2.8269245624542236, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.24128328263759613, 0.33016708493232727, -0.8001449704170227, 0.33207446336746216, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7974746227264404, -1.333447813987732, 0.7307164072990417, 1.352521538734436, 0.6254291534423828, -2.824254274368286, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.24204623699188232, 0.32940414547920227, -0.8001449704170227, 0.33207446336746216, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, -1.337262511253357, 0.735675573348999, 1.3529030084609985, 0.6250476837158203, -2.823491334915161, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.24319066107273102, 0.32940414547920227, -0.8001449704170227, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7928969264030457, -1.340695858001709, 0.7406347990036011, 1.3529030084609985, 0.6246662139892578, -2.8231098651885986, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.2439536154270172, 0.3290226459503174, -0.8001449704170227, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7906080484390259, -1.343747615814209, 0.7444495558738708, 1.3529030084609985, 0.6235218048095703, -2.8192949295043945, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.2454795092344284, 0.3286411762237549, -0.8001449704170227, 0.33207446336746216, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7883192300796509, -1.3464179039001465, 0.7475013136863708, 1.3529030084609985, 0.622377336025238, -2.815861701965332, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.2454795092344284, 0.3286411762237549, -0.8001449704170227, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -1.349469780921936, 0.7516975402832031, 1.3529030084609985, 0.622377336025238, -2.8147172927856445, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.2454795092344284, 0.3286411762237549, -0.8001449704170227, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7837415337562561, -1.353284478187561, 0.7562752962112427, 1.3529030084609985, 0.6212329268455505, -2.812047004699707, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.248531311750412, 0.3286411762237549, -0.8005264401435852, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7814526557922363, -1.3563363552093506, 0.760471522808075, 1.3529030084609985, 0.620851457118988, -2.811284065246582, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.248531311750412, 0.3286411762237549, -0.8001449704170227, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -1.3593881130218506, 0.7642862796783447, 1.3529030084609985, 0.619325578212738, -2.808232307434082, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.24891279637813568, 0.3286411762237549, -0.8005264401435852, 0.33169299364089966, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.777256429195404, -1.3616769313812256, 0.7669565677642822, 1.353284478187561, 0.6170367002487183, -2.808232307434082, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.24891279637813568, 0.3286411762237549, -0.8005264401435852, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7742046117782593, -1.3643473386764526, 0.770008385181427, 1.357480764389038, 0.6132219433784485, -2.8078508377075195, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.24891279637813568, 0.3286411762237549, -0.8005264401435852, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7711527943611145, -1.3666361570358276, 0.7726787328720093, 1.356717824935913, 0.6101701259613037, -2.8063249588012695, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.24929426610469818, 0.3282597064971924, -0.8001449704170227, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.769245445728302, -1.3693064451217651, 0.776493489742279, 1.355954885482788, 0.6078813076019287, -2.8047990798950195, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.2508201599121094, 0.3286411762237549, -0.8005264401435852, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7673380374908447, -1.3723583221435547, 0.7806897163391113, 1.354810357093811, 0.6052109599113464, -2.8032729625701904, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25234606862068176, 0.3282597064971924, -0.8001449704170227, 0.33131152391433716, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -1.3757915496826172, 0.7852674126625061, 1.3529030084609985, 0.6010147333145142, -2.800602674484253, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25234606862068176, 0.3282597064971924, -0.8005264401435852, 0.33131152391433716, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -1.3788433074951172, 0.7898451089859009, 1.3529030084609985, 0.5949110984802246, -2.800602674484253, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25234606862068176, 0.3282597064971924, -0.8001449704170227, 0.33131152391433716, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.763523280620575, -1.3815137147903442, 0.7936598658561707, 1.3529030084609985, 0.5907148718833923, -2.7971694469451904, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25234606862068176, 0.3282597064971924, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7616159319877625, -1.3841840028762817, 0.7967116832733154, 1.3529030084609985, 0.5865186452865601, -2.7971694469451904, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25234606862068176, 0.3282597064971924, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7593270540237427, -1.3860913515090942, 0.7990005612373352, 1.3529030084609985, 0.5819409489631653, -2.796787977218628, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25234606862068176, 0.3278782367706299, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7581826448440552, -1.3876173496246338, 0.8005264401435852, 1.3529030084609985, 0.5796520709991455, -2.796787977218628, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25272753834724426, 0.3282597064971924, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7570382356643677, -1.3895246982574463, 0.80357825756073, 1.3529030084609985, 0.5788891315460205, -2.7964065074920654, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25349050760269165, 0.3278782367706299, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -1.3918135166168213, 0.8077744841575623, 1.3529030084609985, 0.5781261920928955, -2.7964065074920654, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25387197732925415, 0.3274967670440674, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7558938264846802, -1.3944838047027588, 0.811589241027832, 1.352521538734436, 0.576981782913208, -2.7964065074920654, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25577935576438904, 0.3274967670440674, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7551308274269104, -1.3967727422714233, 0.8150225281715393, 1.352521538734436, 0.5766003131866455, -2.796025037765503, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25577935576438904, 0.3274967670440674, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7543678879737854, -1.3982986211776733, 0.8176928162574768, 1.352521538734436, 0.576218843460083, -2.7956435680389404, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25539788603782654, 0.3274967670440674, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7528420090675354, -1.3998245000839233, 0.8196002244949341, 1.352521538734436, 0.5727855563163757, -2.793736219406128, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25539788603782654, 0.3274967670440674, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7516975402832031, -1.4021133184432983, 0.8222705721855164, 1.352521538734436, 0.570496678352356, -2.793736219406128, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25539788603782654, 0.3274967670440674, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7505531311035156, -1.403639316558838, 0.8245593905448914, 1.3529030084609985, 0.5682078003883362, -2.793736219406128, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25577935576438904, 0.3274967670440674, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7490272521972656, -1.4055466651916504, 0.8272297382354736, 1.3529030084609985, 0.5655375123023987, -2.793736219406128, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25577935576438904, 0.3274967670440674, -0.8005264401435852, 0.33093002438545227, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7486457824707031, -1.4078354835510254, 0.8306630253791809, 1.3529030084609985, 0.5647745728492737, -2.792973279953003, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25539788603782654, 0.3274967670440674, -0.8001449704170227, 0.33093002438545227, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7482643127441406, -1.4093613624572754, 0.8329518437385559, 1.3529030084609985, 0.5647745728492737, -2.7895400524139404, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25577935576438904, 0.3274967670440674, -0.8005264401435852, 0.33131152391433716, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7482643127441406, -1.409742832183838, 0.8344777822494507, 1.3529030084609985, 0.5643930435180664, -2.7895400524139404, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25577935576438904, 0.3274967670440674, -0.8005264401435852, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7482643127441406, -1.4101243019104004, 0.8348592519760132, 1.352521538734436, 0.5636301040649414, -2.7895400524139404, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25539788603782654, 0.3274967670440674, -0.8005264401435852, 0.33169299364089966, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7482643127441406, -1.4101243019104004, 0.8352407217025757, 1.3529030084609985, 0.5624856948852539, -2.789158582687378, -0.000536960840690881, 0.000536960840690881, 0.5373083353042603, -0.25577935576438904, 0.3274967670440674, -0.8005264401435852, 0.33207446336746216, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7482643127441406, -1.4101243019104004, 0.8352407217025757, 1.3529030084609985, 0.5621042251586914, -2.7887768745422363, -0.0006025503971613944, 0.0006025503971613944, 0.5373083353042603, -0.25577935576438904, 0.3271152675151825, -0.8005264401435852, 0.33245593309402466, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7478827834129333, -1.4101243019104004, 0.8360036611557007, 1.3521400690078735, 0.5647745728492737, -2.7887768745422363, -0.0027323863469064236, 0.0027323863469064236, 0.5373083353042603, -0.25577935576438904, 0.32673379778862, -0.8005264401435852, 0.33474478125572205, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7471198439598083, -1.4101243019104004, 0.8363851308822632, 1.3456549644470215, 0.5643930435180664, -2.7887768745422363, -0.00764975231140852, 0.00764975231140852, 0.5373083353042603, -0.25577935576438904, 0.32673379778862, -0.8005264401435852, 0.33550775051116943, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7471198439598083, -1.4101243019104004, 0.8363851308822632, 1.3490883111953735, 0.5643930435180664, -2.7895400524139404, -0.01398025918751955, 0.01398025918751955, 0.5373083353042603, -0.25654229521751404, 0.3263523280620575, -0.8005264401435852, 0.33588922023773193, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7471198439598083, -1.406691074371338, 0.8333333134651184, 1.349469780921936, 0.5628671646118164, -2.793736219406128, -0.016242913901805878, 0.016242913901805878, 0.5373083353042603, -0.2588311731815338, 0.3263523280620575, -0.8005264401435852, 0.3374151289463043, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7475013136863708, -1.3914320468902588, 0.8203631639480591, 1.350232720375061, 0.5647745728492737, -2.801365613937378, -0.01670129969716072, 0.01670129969716072, 0.5373083353042603, -0.2595941126346588, 0.3263523280620575, -0.8005264401435852, 0.3377965986728668, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7639048099517822, -1.3563363552093506, 0.7856488823890686, 1.3498512506484985, 0.5727855563163757, -2.8047990798950195, -0.016720470041036606, 0.016720470041036606, 0.5373083353042603, -0.2595941126346588, 0.3263523280620575, -0.8005264401435852, 0.3377965986728668, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8020523190498352, -1.2979705333709717, 0.7238498330116272, 1.3529030084609985, 0.5952925682067871, -2.7811474800109863, -0.013780812732875347, 0.013780812732875347, 0.5373083353042603, -0.2588311731815338, 0.3263523280620575, -0.8005264401435852, 0.3377965986728668, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8546959757804871, -1.2205309867858887, 0.6490806341171265, 1.3529030084609985, 0.614366352558136, -2.7082855701446533, -0.0026210667565464973, 0.0026210667565464973, 0.5373083353042603, -0.25654229521751404, 0.3263523280620575, -0.7974746227264404, 0.3374151289463043, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9084840416908264, -1.1362248659133911, 0.576218843460083, 1.353284478187561, 0.6048294901847839, -2.5923171043395996, -9.422883886145428e-05, 9.422883886145428e-05, 0.5373083353042603, -0.25539788603782654, 0.32520791888237, -0.7623788714408875, 0.33474478125572205, 0.6204699873924255, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9393835067749023, -1.0450522899627686, 0.5182345509529114, 1.354810357093811, 0.5628671646118164, -2.4351491928100586, -9.422883886145428e-05, 9.422883886145428e-05, 0.543411910533905, -0.25272753834724426, 0.3217746317386627, -0.7368200421333313, 0.33131152391433716, 0.620088517665863, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9565499424934387, -0.9435797929763794, 0.47627222537994385, 1.3529030084609985, 0.4865720570087433, -2.2467002868652344, -9.422883886145428e-05, 9.422883886145428e-05, 0.5842298269271851, -0.2470054179430008, 0.3133821487426758, -0.7211795449256897, 0.32101166248321533, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9664682745933533, -0.8302815556526184, 0.4358358085155487, 1.3536659479141235, 0.3912031650543213, -2.062066078186035, -9.422883886145428e-05, 9.422883886145428e-05, 0.6467918157577515, -0.24319066107273102, 0.30231937766075134, -0.7135500311851501, 0.2927824854850769, 0.6204699873924255, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9699015617370605, -0.7066834568977356, 0.39768826961517334, 1.353284478187561, 0.2927824854850769, -1.8865872621536255, -9.422883886145428e-05, 9.422883886145428e-05, 0.7001983523368835, -0.2447165697813034, 0.2924010157585144, -0.7070649266242981, 0.2641718089580536, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9733348488807678, -0.5674448609352112, 0.35191118717193604, 1.3536659479141235, 0.19130998849868774, -1.720263957977295, -9.422883886145428e-05, 9.422883886145428e-05, 0.7307164072990417, -0.2454795092344284, 0.28667888045310974, -0.7032501697540283, 0.2607385218143463, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9733348488807678, -0.42744335532188416, 0.2943083941936493, 1.3536659479141235, 0.1356145590543747, -1.581406831741333, -9.422883886145428e-05, 9.422883886145428e-05, 0.7463569045066833, -0.2450980395078659, 0.28248265385627747, -0.7036316394805908, 0.2748531401157379, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9737163186073303, -0.3130006790161133, 0.23556114733219147, 1.354047417640686, 0.11577782779932022, -1.4894713163375854, -9.422883886145428e-05, 9.422883886145428e-05, 0.7558938264846802, -0.24052032828330994, 0.2798123061656952, -0.7036316394805908, 0.290112167596817, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9737163186073303, -0.2290760725736618, 0.1825360506772995, 1.353284478187561, 0.11577782779932022, -1.4459830522537231, -9.422883886145428e-05, 9.422883886145428e-05, 0.7597085237503052, -0.23517967760562897, 0.2782863974571228, -0.7074463963508606, 0.2962157726287842, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9737163186073303, -0.17528800666332245, 0.13790340721607208, 1.3536659479141235, 0.11654078215360641, -1.4265278577804565, -9.422883886145428e-05, 9.422883886145428e-05, 0.761997401714325, -0.230601966381073, 0.2771419882774353, -0.7112611532211304, 0.30231937766075134, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9737163186073303, -0.14400701224803925, 0.09632257372140884, 1.353284478187561, 0.13179980218410492, -1.418898344039917, -9.422883886145428e-05, 9.422883886145428e-05, 0.7631418108940125, -0.22755016386508942, 0.2759975492954254, -0.7150759100914001, 0.3061341345310211, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9737163186073303, -0.12531471252441406, 0.06084534898400307, 1.353284478187561, 0.1489662081003189, -1.4143205881118774, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22640573978424072, 0.2752346098423004, -0.7181277275085449, 0.308804452419281, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9668498039245605, -0.10204470902681351, 0.04177157208323479, 1.3536659479141235, 0.15621423721313477, -1.4017318487167358, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22449836134910583, 0.2744716703891754, -0.7192721366882324, 0.3091859221458435, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9359502792358398, -0.07724879682064056, 0.03681239113211632, 1.353284478187561, 0.12073700875043869, -1.3986800909042358, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22411687672138214, 0.2744716703891754, -0.7223239541053772, 0.309567391872406, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9016174674034119, -0.0551232174038887, 0.03185320645570755, 1.353284478187561, 0.08373387902975082, -1.4070725440979004, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22259098291397095, 0.272945761680603, -0.7230868935585022, 0.309567391872406, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.882543683052063, -0.05054550990462303, 0.01506828423589468, 1.353284478187561, 0.07343403995037079, -1.420424222946167, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22220951318740845, 0.27103838324546814, -0.7234683632850647, 0.308041512966156, 0.6197070479393005, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8737697601318359, -0.05664911866188049, 0.0013351644156500697, 1.353284478187561, 0.08030059933662415, -1.421187162399292, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22220951318740845, 0.26836803555488586, -0.725375771522522, 0.2969787120819092, 0.6197070479393005, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, -0.06313420087099075, -0.00476844422519207, 1.353284478187561, 0.0871671661734581, -1.421950101852417, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22411687672138214, 0.265697717666626, -0.725375771522522, 0.2912565767765045, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8657587766647339, -0.06580453366041183, -0.008201723918318748, 1.353284478187561, 0.09250781685113907, -1.429198145866394, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22449836134910583, 0.2637903392314911, -0.7249943017959595, 0.2817196846008301, 0.6197070479393005, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.06656748056411743, -0.010872052982449532, 1.3529030084609985, 0.09365224838256836, -1.433012843132019, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22487983107566833, 0.2611200213432312, -0.7249943017959595, 0.2763790488243103, 0.6197070479393005, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8634698987007141, -0.06580453366041183, -0.012397955171763897, 1.3529030084609985, 0.09441519528627396, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22564278542995453, 0.2595941126346588, -0.7249943017959595, 0.27141985297203064, 0.6197070479393005, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.06694895774126053, -0.012779430486261845, 1.3529030084609985, 0.09708552807569504, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22678720951080322, 0.2584496736526489, -0.7249943017959595, 0.2645532786846161, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.06923781335353851, -0.012779430486261845, 1.3529030084609985, 0.09861142933368683, -1.436446189880371, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.22030213475227356, 0.2584496736526489, -0.724612832069397, 0.2576867341995239, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07000076025724411, -0.012779430486261845, 1.3529030084609985, 0.10090028494596481, -1.436446189880371, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.1993209719657898, 0.25501641631126404, -0.724612832069397, 0.264934778213501, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.06961929053068161, -0.013160906732082367, 1.3529030084609985, 0.10128175467252731, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.1512550562620163, 0.23289081454277039, -0.7173647880554199, 0.265697717666626, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.06923781335353851, -0.013160906732082367, 1.3529030084609985, 0.10128175467252731, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.09746700525283813, 0.18978407979011536, -0.697528064250946, 0.23785001039505005, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.06961929053068161, -0.013160906732082367, 1.3529030084609985, 0.10166323184967041, -1.4375905990600586, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.07877469807863235, 0.14820325374603271, -0.6841763854026794, 0.22144655883312225, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0722896158695221, -0.012397955171763897, 1.3529030084609985, 0.10128175467252731, -1.438735008239746, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.07381551712751389, 0.12149996310472488, -0.6757839322090149, 0.20275425910949707, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07419699430465698, -0.011635004542768002, 1.3529030084609985, 0.10128175467252731, -1.439497947692871, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.07343403995037079, 0.10700388997793198, -0.6712062358856201, 0.1832990050315857, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07419699430465698, -0.011635004542768002, 1.3529030084609985, 0.10166323184967041, -1.439497947692871, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.07267109304666519, 0.09899290651082993, -0.6681544184684753, 0.17299915850162506, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07495994865894318, -0.01125352829694748, 1.3529030084609985, 0.10166323184967041, -1.439497947692871, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.0707637146115303, 0.09441519528627396, -0.6654840707778931, 0.1665140837430954, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07534141838550568, -0.01125352829694748, 1.3529030084609985, 0.10128175467252731, -1.4391164779663086, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.07038223743438721, 0.09250781685113907, -0.6654840707778931, 0.164988175034523, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07534141838550568, -0.01125352829694748, 1.3529030084609985, 0.10128175467252731, -1.4391164779663086, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.07038223743438721, 0.09136339277029037, -0.6692988276481628, 0.16231784224510193, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07534141838550568, -0.01125352829694748, 1.3529030084609985, 0.10128175467252731, -1.4391164779663086, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.07038223743438721, 0.09098191559314728, -0.6700618267059326, 0.16231784224510193, 0.6197070479393005, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07534141838550568, -0.01125352829694748, 1.3529030084609985, 0.10128175467252731, -1.438735008239746, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.07038223743438721, 0.09098191559314728, -0.6734950542449951, 0.16193637251853943, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07534141838550568, -0.010872052982449532, 1.3529030084609985, 0.10128175467252731, -1.4383535385131836, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.0707637146115303, 0.09098191559314728, -0.6815060377120972, 0.16079194843769073, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07534141838550568, -0.01125352829694748, 1.3529030084609985, 0.10128175467252731, -1.4383535385131836, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.0711451917886734, 0.09098191559314728, -0.6887540817260742, 0.16079194843769073, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07534141838550568, -0.01125352829694748, 1.3529030084609985, 0.10128175467252731, -1.437209129333496, -9.422883886145428e-05, 9.422883886145428e-05, 0.7639048099517822, -0.0707637146115303, 0.09098191559314728, -0.6921873688697815, 0.16079194843769073, 0.619325578212738, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07534141838550568, -0.01125352829694748, 1.3529030084609985, 0.10128175467252731, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.7642862796783447, -0.06923781335353851, 0.09288929402828217, -0.7181277275085449, 0.16002899408340454, 0.620088517665863, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07534141838550568, -0.01125352829694748, 1.3529030084609985, 0.10128175467252731, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.7749675512313843, -0.06504157930612564, 0.09479667246341705, -0.8310444951057434, 0.14286258816719055, 0.7337682247161865, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07534141838550568, -0.01125352829694748, 1.3529030084609985, 0.10128175467252731, -1.437209129333496, -9.422883886145428e-05, 9.422883886145428e-05, 0.8146410584449768, -0.06008239835500717, 0.09441519528627396, -1.052681803703308, 0.08564125746488571, 0.9737163186073303, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07724879682064056, -0.010490577667951584, 1.3529030084609985, 0.10128175467252731, -1.437209129333496, -9.422883886145428e-05, 9.422883886145428e-05, 0.8501182794570923, -0.06084534898400307, 0.09365224838256836, -1.2060348987579346, 0.03376058489084244, 1.1297398805618286, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07953765243291855, -0.008964675478637218, 1.3529030084609985, 0.10090028494596481, -1.437209129333496, -9.422883886145428e-05, 9.422883886145428e-05, 0.8703364729881287, -0.071908138692379, 0.09098191559314728, -1.2956817150115967, 0.023079270496964455, 1.2178606986999512, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07953765243291855, -0.008964675478637218, 1.3529030084609985, 0.10090028494596481, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.8806362748146057, -0.08220797777175903, 0.08487831056118011, -1.346799373626709, 0.016975661739706993, 1.2689783573150635, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.07991912961006165, -0.008964675478637218, 1.3529030084609985, 0.10090028494596481, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.8859769701957703, -0.09136339277029037, 0.06885633617639542, -1.3742656707763672, 0.009727626107633114, 1.2983520030975342, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08144503086805344, -0.00858320016413927, 1.3529030084609985, 0.10090028494596481, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.8894102573394775, -0.10013733059167862, 0.042153049260377884, -1.3822766542434692, -0.02079041674733162, 1.3143739700317383, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08297093212604523, -0.0078202486038208, 1.3529030084609985, 0.10090028494596481, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.890554666519165, -0.1035706102848053, 0.024223696440458298, -1.3761730194091797, -0.053215838968753815, 1.3250553607940674, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08411535620689392, -0.007438773289322853, 1.3529030084609985, 0.10128175467252731, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.890554666519165, -0.10738536715507507, 0.014686808921396732, -1.3677805662155151, -0.06656748056411743, 1.3319218158721924, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08449683338403702, -0.007438773289322853, 1.3529030084609985, 0.10128175467252731, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.8909361362457275, -0.10776684433221817, 0.010109102353453636, -1.3624398708343506, -0.07915617525577545, 1.335736632347107, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08449683338403702, -0.007438773289322853, 1.3529030084609985, 0.10166323184967041, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.8909361362457275, -0.10814831405878067, 0.007057297509163618, -1.3586251735687256, -0.08144503086805344, 1.3384069204330444, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08564125746488571, -0.007438773289322853, 1.3529030084609985, 0.10166323184967041, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.8909361362457275, -0.10814831405878067, 0.005912871100008488, -1.354810357093811, -0.0871671661734581, 1.338788390159607, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08602273464202881, -0.007057297509163618, 1.3529030084609985, 0.10166323184967041, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.8909361362457275, -0.11005569249391556, 0.00476844422519207, -1.3551918268203735, -0.0871671661734581, 1.338788390159607, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08602273464202881, -0.007057297509163618, 1.3529030084609985, 0.10166323184967041, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.8909361362457275, -0.11005569249391556, 0.004386968910694122, -1.3624398708343506, -0.08907453715801239, 1.339551329612732, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08602273464202881, -0.007057297509163618, 1.3529030084609985, 0.10204470902681351, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.8909361362457275, -0.10700388997793198, 0.0032425422687083483, -1.4127947092056274, -0.09136339277029037, 1.3918135166168213, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0864042118191719, -0.00667582219466567, 1.3529030084609985, 0.10204470902681351, -1.4368276596069336, -9.422883886145428e-05, 9.422883886145428e-05, 0.8909361362457275, -0.1035706102848053, 0.0013351644156500697, -1.4845120906829834, -0.09212634712457657, 1.4711604118347168, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.086785688996315, -0.00667582219466567, 1.3529030084609985, 0.10204470902681351, -1.436446189880371, -9.422883886145428e-05, 9.422883886145428e-05, 0.889028787612915, -0.10166323184967041, -0.00019073777366429567, -1.5268558263778687, -0.09174486994743347, 1.5226596593856812, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0875486359000206, -0.00667582219466567, 1.3529030084609985, 0.10204470902681351, -1.436446189880371, -9.422883886145428e-05, 9.422883886145428e-05, 0.8844510316848755, -0.09975585341453552, -0.000572213320992887, -1.5478370189666748, -0.09212634712457657, 1.5485999584197998, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0875486359000206, -0.006294346414506435, 1.3529030084609985, 0.10204470902681351, -1.436446189880371, -9.422883886145428e-05, 9.422883886145428e-05, 0.8821622133255005, -0.09937438368797302, -0.0013351644156500697, -1.5360113382339478, -0.09212634712457657, 1.5417333841323853, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0875486359000206, -0.006294346414506435, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09899290651082993, -0.0013351644156500697, -1.4997711181640625, -0.09174486994743347, 1.5108338594436646, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.005912871100008488, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09899290651082993, -0.0013351644156500697, -1.484130620956421, -0.09174486994743347, 1.493667483329773, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.005912871100008488, 1.3529030084609985, 0.1024261862039566, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09899290651082993, -0.0013351644156500697, -1.4730678796768188, -0.09212634712457657, 1.4822232723236084, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.005912871100008488, 1.3529030084609985, 0.1024261862039566, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09899290651082993, -0.0013351644156500697, -1.4662013053894043, -0.09212634712457657, 1.4753566980361938, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.005912871100008488, 1.3529030084609985, 0.1024261862039566, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09899290651082993, -0.0013351644156500697, -1.4654383659362793, -0.09174486994743347, 1.4723048210144043, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.005912871100008488, 1.3529030084609985, 0.1024261862039566, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09899290651082993, -0.0013351644156500697, -1.4620050191879272, -0.09174486994743347, 1.4700160026550293, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.005912871100008488, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09899290651082993, -0.0013351644156500697, -1.4620050191879272, -0.09212634712457657, 1.4684901237487793, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.005912871100008488, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09899290651082993, -0.0013351644156500697, -1.4616235494613647, -0.09174486994743347, 1.4684901237487793, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.005912871100008488, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4585717916488647, -0.09212634712457657, 1.4684901237487793, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.005912871100008488, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4589532613754272, -0.09212634712457657, 1.4684901237487793, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.005912871100008488, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4589532613754272, -0.09212634712457657, 1.4681086540222168, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.005912871100008488, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4589532613754272, -0.09212634712457657, 1.4681086540222168, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.005912871100008488, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4589532613754272, -0.09212634712457657, 1.4681086540222168, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.005912871100008488, 1.3529030084609985, 0.1024261862039566, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4589532613754272, -0.09212634712457657, 1.4677271842956543, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.005912871100008488, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4589532613754272, -0.09250781685113907, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.005912871100008488, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4593347311019897, -0.09327077120542526, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.005912871100008488, 1.3529030084609985, 0.10204470902681351, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4593347311019897, -0.09365224838256836, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08945601433515549, -0.005912871100008488, 1.3529030084609985, 0.1024261862039566, -1.435683250427246, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4593347311019897, -0.09365224838256836, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08945601433515549, -0.005912871100008488, 1.3529030084609985, 0.10433356463909149, -1.4360647201538086, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4597162008285522, -0.09365224838256836, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08945601433515549, -0.005912871100008488, 1.3529030084609985, 0.10585946589708328, -1.436446189880371, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4597162008285522, -0.09365224838256836, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08869306743144989, -0.008201723918318748, 1.4047837257385254, 0.10967422276735306, -1.4917601346969604, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4597162008285522, -0.09327077120542526, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0864042118191719, -0.01125352829694748, 1.4604791402816772, 0.11387044936418533, -1.5478370189666748, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09327077120542526, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08335240930318832, -0.012779430486261845, 1.4765011072158813, 0.1184481605887413, -1.5611886978149414, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09327077120542526, 1.4677271842956543, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08297093212604523, -0.013542382046580315, 1.4768825769424438, 0.12111848592758179, -1.564621925354004, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09288929402828217, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08220797777175903, -0.013923857361078262, 1.4768825769424438, 0.12264438718557358, -1.564621925354004, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09288929402828217, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08258945494890213, -0.013542382046580315, 1.4768825769424438, 0.12302586436271667, -1.564621925354004, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09288929402828217, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.08487831056118011, -0.01201647985726595, 1.4768825769424438, 0.1188296303153038, -1.5642404556274414, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09250781685113907, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0871671661734581, -0.010490577667951584, 1.4768825769424438, 0.11654078215360641, -1.563858985900879, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09250781685113907, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.010109102353453636, 1.4768825769424438, 0.11615930497646332, -1.560807228088379, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09250781685113907, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.010109102353453636, 1.4768825769424438, 0.11577782779932022, -1.5604257583618164, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09250781685113907, 1.4677271842956543, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.010109102353453636, 1.4768825769424438, 0.11539635062217712, -1.560044288635254, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09250781685113907, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.010109102353453636, 1.4768825769424438, 0.11425192654132843, -1.5596628189086914, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09250781685113907, 1.4677271842956543, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.010109102353453636, 1.4768825769424438, 0.11310750246047974, -1.5588998794555664, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09250781685113907, 1.4677271842956543, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.010109102353453636, 1.4768825769424438, 0.11310750246047974, -1.5569924116134644, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09250781685113907, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.010109102353453636, 1.4768825769424438, 0.11348897218704224, -1.5569924116134644, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09250781685113907, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.010109102353453636, 1.4768825769424438, 0.11348897218704224, -1.5569924116134644, -9.087968646781519e-05, 9.087968646781519e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09250781685113907, 1.4677271842956543, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.0883115902543068, -0.010109102353453636, 1.4768825769424438, 0.11348897218704224, -1.5569924116134644, -9.422883886145428e-05, 9.422883886145428e-05, 0.8798733353614807, -0.09937438368797302, -0.0013351644156500697, -1.4600976705551147, -0.09250781685113907, 1.4677271842956543, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000006/meta.json b/rc-table30-v2__rc-dos-w1/000006/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29d802aa77fc17106fc3028a3c21790f2885497f
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000006/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Put the pens on the desk into the pen holder.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 1200,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000006/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000006/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..51c7deaf7cd1173b5b623db346979874480877c3
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000006/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000006/temporal.json b/rc-table30-v2__rc-dos-w1/000006/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c9d93b3f8a7d2056637b91912dfcdf7ed211e61
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000006/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.7566567659378052, -0.071908138692379, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.7183566093444824, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6275653839111328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.071908138692379, 0.0078202486038208, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015826411254238337, 0.00015826411254238337, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6275653839111328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7566567659378052, -0.071908138692379, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6275653839111328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.071908138692379, 0.0078202486038208, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.8546959757804871, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6279468536376953, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.071908138692379, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6279468536376953, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.071908138692379, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6279468536376953, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.071908138692379, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6279468536376953, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.071908138692379, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.7198824882507324, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6279468536376953, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.071908138692379, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.71950101852417, -0.00015826411254238337, 0.00015826411254238337, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6275653839111328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.071908138692379, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.71797513961792, -0.00015826411254238337, 0.00015826411254238337, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6275653839111328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.071908138692379, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.71797513961792, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6275653839111328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.071908138692379, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.71797513961792, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6275653839111328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.71797513961792, -0.00015487478231079876, 0.00015487478231079876, 0.8546959757804871, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6275653839111328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.7183566093444824, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6275653839111328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.7183566093444824, -0.00015826411254238337, 0.00015826411254238337, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6275653839111328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.71950101852417, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6279468536376953, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015826411254238337, 0.00015826411254238337, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6279468536376953, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.0078202486038208, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6279468536376953, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015826411254238337, 0.00015826411254238337, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6275653839111328, -7.833624295017216e-06, 7.833624295017216e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015826411254238337, 0.00015826411254238337, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6302357912063599, -0.009180434979498386, 0.009180434979498386], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.7198824882507324, -0.00015487478231079876, 0.00015487478231079876, 0.8550774455070496, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6298543214797974, -0.018848957493901253, 0.018848957493901253], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.7198824882507324, -0.00015487478231079876, 0.00015487478231079876, 0.8562218546867371, -0.14515145123004913, 0.10013733059167862, -1.5325779914855957, -0.09212634712457657, 1.6298543214797974, -0.024862296879291534, 0.024862296879291534], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.71797513961792, -0.00015487478231079876, 0.00015487478231079876, 0.8600366115570068, -0.14515145123004913, 0.10891126841306686, -1.5325779914855957, -0.08525978773832321, 1.6294728517532349, -0.026163244619965553, 0.026163244619965553], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.71797513961792, -0.00015487478231079876, 0.00015487478231079876, 0.8604180812835693, -0.14515145123004913, 0.14286258816719055, -1.5325779914855957, -0.06160829961299896, 1.6268024444580078, -0.026163244619965553, 0.026163244619965553], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.71797513961792, -0.00015487478231079876, 0.00015487478231079876, 0.8596551418304443, -0.14515145123004913, 0.20428015291690826, -1.5325779914855957, -0.02079041674733162, 1.6268024444580078, -0.026163244619965553, 0.026163244619965553], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.0715266615152359, 0.008201723918318748, 1.636720895767212, 0.1031891331076622, -1.7183566093444824, -0.00015487478231079876, 0.00015487478231079876, 0.8325703740119934, -0.14515145123004913, 0.28706035017967224, -1.5325779914855957, 0.06198977679014206, 1.6268024444580078, -0.026172954589128494, 0.026172954589128494], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07381551712751389, 0.008964675478637218, 1.636720895767212, 0.1031891331076622, -1.7183566093444824, -0.00015826411254238337, 0.00015826411254238337, 0.7555122971534729, -0.15850308537483215, 0.3896772861480713, -1.5325779914855957, 0.19016556441783905, 1.6268024444580078, -0.026163244619965553, 0.026163244619965553], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07495994865894318, 0.009727626107633114, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015487478231079876, 0.00015487478231079876, 0.6570916175842285, -0.21763180196285248, 0.5113679766654968, -1.5329594612121582, 0.36640727519989014, 1.6268024444580078, -0.026163244619965553, 0.026163244619965553], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07495994865894318, 0.009727626107633114, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.5582894682884216, -0.33474478125572205, 0.654421329498291, -1.5341038703918457, 0.5930037498474121, 1.6268024444580078, -0.026163244619965553, 0.026163244619965553], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07648584991693497, 0.009727626107633114, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015826411254238337, 0.00015826411254238337, 0.483138769865036, -0.4732204079627991, 0.7696269154548645, -1.5344853401184082, 0.8085374236106873, 1.6268024444580078, -0.026163244619965553, 0.026163244619965553], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07724879682064056, 0.010490577667951584, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015826411254238337, 0.00015826411254238337, 0.4396505653858185, -0.6029220819473267, 0.841725766658783, -1.5344853401184082, 0.9786755442619324, 1.6268024444580078, -0.026163244619965553, 0.026163244619965553], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07801175117492676, 0.010490577667951584, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015487478231079876, 0.00015487478231079876, 0.41638055443763733, -0.7230868935585022, 0.8714808821678162, -1.5341038703918457, 1.0992218255996704, 1.6271839141845703, -0.02594933845102787, 0.02594933845102787], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07801175117492676, 0.010490577667951584, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015487478231079876, 0.00015487478231079876, 0.4053177833557129, -0.8264667987823486, 0.8779659867286682, -1.5341038703918457, 1.1652170419692993, 1.6271839141845703, -0.024980375543236732, 0.024980375543236732], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07839322835206985, 0.010490577667951584, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015487478231079876, 0.00015487478231079876, 0.4018844962120056, -0.9092469811439514, 0.8710994124412537, -1.5310521125793457, 1.2022202014923096, 1.6271839141845703, -0.024822913110256195, 0.024822913110256195], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07915617525577545, 0.010872052982449532, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.404936283826828, -0.9752422571182251, 0.8577477931976318, -1.5318150520324707, 1.2224383354187012, 1.6271839141845703, -0.023765090852975845, 0.023765090852975845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07915617525577545, 0.010872052982449532, 1.636720895767212, 0.1031891331076622, -1.720263957977295, -0.00015487478231079876, 0.00015487478231079876, 0.4201953113079071, -1.029411792755127, 0.8470664620399475, -1.5314335823059082, 1.2247272729873657, 1.6271839141845703, -0.02338782511651516, 0.02338782511651516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07953765243291855, 0.010872052982449532, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4354543387889862, -1.0763332843780518, 0.8405813574790955, -1.5310521125793457, 1.2228199243545532, 1.6271839141845703, -0.021545618772506714, 0.021545618772506714], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07953765243291855, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.44384679198265076, -1.114862322807312, 0.8363851308822632, -1.5310521125793457, 1.2083238363265991, 1.6271839141845703, -0.020560247823596, 0.020560247823596], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07953765243291855, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4488059878349304, -1.1465247869491577, 0.8344777822494507, -1.5310521125793457, 1.1964980363845825, 1.6271839141845703, -0.019756723195314407, 0.019756723195314407], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07953765243291855, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4507133662700653, -1.1755168437957764, 0.8340963125228882, -1.5310521125793457, 1.1804760694503784, 1.6271839141845703, -0.019371164962649345, 0.019371164962649345], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07991912961006165, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.19916832447052, 0.8344777822494507, -1.5310521125793457, 1.1682689189910889, 1.6275653839111328, -0.017821766436100006, 0.017821766436100006], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07991912961006165, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.2186236381530762, 0.8344777822494507, -1.5310521125793457, 1.1533913612365723, 1.6275653839111328, -0.01518719457089901, 0.01518719457089901], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07991912961006165, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.2365529537200928, 0.8344777822494507, -1.5310521125793457, 1.1381323337554932, 1.6275653839111328, -0.014336186461150646, 0.014336186461150646], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07991912961006165, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.255245327949524, 0.8360036611557007, -1.5310521125793457, 1.1289769411087036, 1.6275653839111328, -0.013618361204862595, 0.013618361204862595], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07991912961006165, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.2708858251571655, 0.837911069393158, -1.5310521125793457, 1.120202898979187, 1.6275653839111328, -0.01155405305325985, 0.01155405305325985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07991912961006165, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.2827115058898926, 0.840199887752533, -1.5310521125793457, 1.1087586879730225, 1.6275653839111328, -0.010157721117138863, 0.010157721117138863], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07991912961006165, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.2914854288101196, 0.8436331748962402, -1.5310521125793457, 1.101892113685608, 1.6279468536376953, -0.008775392547249794, 0.008775392547249794], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.07991912961006165, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.2979705333709717, 0.8470664620399475, -1.5314335823059082, 1.098840355873108, 1.6279468536376953, -0.007352239452302456, 0.007352239452302456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08030059933662415, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.7206454277038574, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.3025482892990112, 0.8504997491836548, -1.5318150520324707, 1.0976959466934204, 1.6279468536376953, -0.006543113850057125, 0.006543113850057125], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08030059933662415, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.72102689743042, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.3056000471115112, 0.8531700372695923, -1.5344853401184082, 1.0965514183044434, 1.6279468536376953, -0.004449512809514999, 0.004449512809514999], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08030059933662415, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.72102689743042, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.3075073957443237, 0.8554589152336121, -1.5344853401184082, 1.0961699485778809, 1.6283283233642578, -0.0037050731480121613, 0.0037050731480121613], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08068207651376724, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.72102689743042, -0.00015826411254238337, 0.00015826411254238337, 0.4530022144317627, -1.3086519241333008, 0.8573662638664246, -1.5341038703918457, 1.0957884788513184, 1.6283283233642578, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08068207651376724, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.72102689743042, -0.00015826411254238337, 0.00015826411254238337, 0.4530022144317627, -1.3094148635864258, 0.8596551418304443, -1.5325779914855957, 1.0942625999450684, 1.6279468536376953, -0.003320027142763138, 0.003320027142763138], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08068207651376724, 0.01125352829694748, 1.636720895767212, 0.1031891331076622, -1.72102689743042, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.3094148635864258, 0.8665217161178589, -1.5310521125793457, 1.0961699485778809, 1.6279468536376953, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08106355369091034, 0.011635004542768002, 1.636720895767212, 0.1031891331076622, -1.72102689743042, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.3097963333129883, 0.8806362748146057, -1.5314335823059082, 1.117914080619812, 1.6279468536376953, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08106355369091034, 0.01201647985726595, 1.636720895767212, 0.1031891331076622, -1.72102689743042, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.3097963333129883, 0.9058136940002441, -1.5314335823059082, 1.1331731081008911, 1.6279468536376953, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08182650804519653, 0.01201647985726595, 1.636720895767212, 0.1031891331076622, -1.72102689743042, -0.00015487478231079876, 0.00015487478231079876, 0.4530022144317627, -1.3044556379318237, 0.9428167939186096, -1.5314335823059082, 1.1495765447616577, 1.6279468536376953, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08220797777175903, 0.01201647985726595, 1.636720895767212, 0.1031891331076622, -1.7214083671569824, -0.00015487478231079876, 0.00015487478231079876, 0.4533836841583252, -1.2781338691711426, 0.9912642240524292, -1.5318150520324707, 1.1495765447616577, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08258945494890213, 0.012397955171763897, 1.636720895767212, 0.1031891331076622, -1.7214083671569824, -0.00015487478231079876, 0.00015487478231079876, 0.46215763688087463, -1.2190051078796387, 1.0275044441223145, -1.5325779914855957, 1.10685133934021, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.08335240930318832, 0.012397955171763897, 1.636720895767212, 0.1031891331076622, -1.7214083671569824, -0.00015487478231079876, 0.00015487478231079876, 0.4839017391204834, -1.122110366821289, 1.02216374874115, -1.5321965217590332, 1.0103379487991333, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7558938264846802, -0.08335240930318832, 0.012397955171763897, 1.636720895767212, 0.1031891331076622, -1.7214083671569824, -0.00015487478231079876, 0.00015487478231079876, 0.5235751867294312, -1.0015640258789062, 0.9634165167808533, -1.5333409309387207, 0.8619440197944641, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7558938264846802, -0.08335240930318832, 0.012397955171763897, 1.636720895767212, 0.1031891331076622, -1.7214083671569824, -0.00015487478231079876, 0.00015487478231079876, 0.5758373141288757, -0.8714808821678162, 0.8615625500679016, -1.5318150520324707, 0.6643396615982056, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7558938264846802, -0.08297093212604523, 0.012397955171763897, 1.636720895767212, 0.1031891331076622, -1.721789836883545, -0.00015487478231079876, 0.00015487478231079876, 0.6277180314064026, -0.7654306888580322, 0.7406347990036011, -1.5318150520324707, 0.4537651538848877, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7555122971534729, -0.08297093212604523, 0.012397955171763897, 1.636720895767212, 0.1031891331076622, -1.721789836883545, -0.00015487478231079876, 0.00015487478231079876, 0.6700618267059326, -0.6963835954666138, 0.6189440488815308, -1.5318150520324707, 0.2439536154270172, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7555122971534729, -0.08297093212604523, 0.012397955171763897, 1.636720895767212, 0.1031891331076622, -1.721789836883545, -0.00015487478231079876, 0.00015487478231079876, 0.697528064250946, -0.6601434350013733, 0.5193789601325989, -1.5318150520324707, 0.06733043491840363, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7555122971534729, -0.08297093212604523, 0.012397955171763897, 1.636720895767212, 0.1031891331076622, -1.721789836883545, -0.003867476712912321, 0.003867476712912321, 0.7131685614585876, -0.6403067111968994, 0.4530022144317627, -1.5318150520324707, -0.06046387553215027, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7555122971534729, -0.08106355369091034, 0.012397955171763897, 1.6363393068313599, 0.1031891331076622, -1.721789836883545, -0.014107683673501015, 0.014107683673501015, 0.7223239541053772, -0.6307697892189026, 0.41142138838768005, -1.5318150520324707, -0.135233074426651, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7566567659378052, -0.08030059933662415, 0.01773861236870289, 1.6363393068313599, 0.1024261862039566, -1.721789836883545, -0.02322879247367382, 0.02322879247367382, 0.7257572412490845, -0.6258106231689453, 0.3858625292778015, -1.5318150520324707, -0.17833982408046722, 1.6279468536376953, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.07419699430465698, 0.040627144277095795, 1.6363393068313599, 0.10471503436565399, -1.7214083671569824, -0.025598132982850075, 0.025598132982850075, 0.7291905283927917, -0.6235218048095703, 0.3725108802318573, -1.5321965217590332, -0.20542457699775696, 1.6279468536376953, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.776493489742279, -0.0871671661734581, 0.0871671661734581, 1.636720895767212, 0.12493324279785156, -1.72102689743042, -0.02709907293319702, 0.02709907293319702, 0.7291905283927917, -0.6273365616798401, 0.36717021465301514, -1.5321965217590332, -0.2161058932542801, 1.6279468536376953, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7864118218421936, -0.14476996660232544, 0.1516365259885788, 1.6363393068313599, 0.134470134973526, -1.7191195487976074, -0.028349952772259712, 0.028349952772259712, 0.7364385724067688, -0.6345845460891724, 0.36678874492645264, -1.5321965217590332, -0.22640573978424072, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8001449704170227, -0.24090181291103363, 0.2298390120267868, 1.636720895767212, 0.14171816408634186, -1.7133973836898804, -0.02872302569448948, 0.02872302569448948, 0.7475013136863708, -0.6425955891609192, 0.36793315410614014, -1.5325779914855957, -0.2294575423002243, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, -0.35076677799224854, 0.31452658772468567, 1.636720895767212, 0.14476996660232544, -1.7092012166976929, -0.02872302569448948, 0.02872302569448948, 0.7524605393409729, -0.6475547552108765, 0.3694590628147125, -1.5325779914855957, -0.23365376889705658, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8520256280899048, -0.4545281231403351, 0.39654383063316345, 1.636720895767212, 0.14820325374603271, -1.7011902332305908, -0.029994403943419456, 0.029994403943419456, 0.7562752962112427, -0.6509880423545837, 0.3702220320701599, -1.5333409309387207, -0.23556114733219147, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, -0.5498970150947571, 0.4663538634777069, 1.636720895767212, 0.14820325374603271, -1.6969939470291138, -0.031126275658607483, 0.031126275658607483, 0.7581826448440552, -0.6521324515342712, 0.3702220320701599, -1.5333409309387207, -0.23556114733219147, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8966583013534546, -0.6342030763626099, 0.5247195959091187, 1.6363393068313599, 0.14858472347259521, -1.6939421892166138, -0.03125622496008873, 0.03125622496008873, 0.7585641145706177, -0.6528953909873962, 0.3702220320701599, -1.5329594612121582, -0.23556114733219147, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9138246774673462, -0.7085908055305481, 0.576218843460083, 1.6363393068313599, 0.1489662081003189, -1.6908903121948242, -0.031922198832035065, 0.031922198832035065, 0.7593270540237427, -0.6532768607139587, 0.3702220320701599, -1.5329594612121582, -0.23556114733219147, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9298466444015503, -0.7715343236923218, 0.622377336025238, 1.6363393068313599, 0.1493476778268814, -1.6908903121948242, -0.031922198832035065, 0.031922198832035065, 0.7597085237503052, -0.6532768607139587, 0.3702220320701599, -1.5329594612121582, -0.23556114733219147, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9431982636451721, -0.8253223299980164, 0.6635767221450806, 1.6363393068313599, 0.1504921019077301, -1.6908903121948242, -0.031922198832035065, 0.031922198832035065, 0.7593270540237427, -0.6532768607139587, 0.3702220320701599, -1.5329594612121582, -0.23556114733219147, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9508277773857117, -0.8722438216209412, 0.7017242908477783, 1.6363393068313599, 0.1508735716342926, -1.6905088424682617, -0.031922198832035065, 0.031922198832035065, 0.7593270540237427, -0.6532768607139587, 0.3702220320701599, -1.5329594612121582, -0.23556114733219147, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9546425342559814, -0.9142061471939087, 0.7368200421333313, 1.6359578371047974, 0.1508735716342926, -1.6905088424682617, -0.031922198832035065, 0.031922198832035065, 0.7593270540237427, -0.6532768607139587, 0.3702220320701599, -1.5329594612121582, -0.23594263195991516, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.955024003982544, -0.9538795948028564, 0.7696269154548645, 1.6344319581985474, 0.1504921019077301, -1.6901273727416992, -0.03040575608611107, 0.03040575608611107, 0.7593270540237427, -0.6532768607139587, 0.3702220320701599, -1.5329594612121582, -0.23594263195991516, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9500648379325867, -0.9893568158149719, 0.7982375621795654, 1.6344319581985474, 0.1504921019077301, -1.6901273727416992, -0.027108654379844666, 0.027108654379844666, 0.7593270540237427, -0.6532768607139587, 0.3702220320701599, -1.5329594612121582, -0.23594263195991516, 1.6279468536376953, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9454871416091919, -1.0183489322662354, 0.8234149813652039, 1.6344319581985474, 0.1504921019077301, -1.6901273727416992, -0.02331826090812683, 0.02331826090812683, 0.7593270540237427, -0.6532768607139587, 0.369840532541275, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9435797929763794, -1.0378042459487915, 0.840199887752533, 1.6344319581985474, 0.1504921019077301, -1.6897459030151367, -0.0142995435744524, 0.0142995435744524, 0.7593270540237427, -0.6532768607139587, 0.3694590628147125, -1.5329594612121582, -0.23594263195991516, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9416723847389221, -1.0481040477752686, 0.8485923409461975, 1.6348134279251099, 0.1504921019077301, -1.6897459030151367, -0.010238311253488064, 0.010238311253488064, 0.7593270540237427, -0.6532768607139587, 0.3686961233615875, -1.5329594612121582, -0.23594263195991516, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9393835067749023, -1.0530632734298706, 0.8527885675430298, 1.6348134279251099, 0.1504921019077301, -1.6897459030151367, -0.007247192785143852, 0.007247192785143852, 0.7593270540237427, -0.6536583304405212, 0.3686961233615875, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9378576278686523, -1.0561150312423706, 0.8550774455070496, 1.6348134279251099, 0.1501106321811676, -1.6901273727416992, -0.00619910703971982, 0.00619910703971982, 0.7593270540237427, -0.654421329498291, 0.3686961233615875, -1.5321965217590332, -0.23594263195991516, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9378576278686523, -1.0576409101486206, 0.8562218546867371, 1.6340504884719849, 0.1504921019077301, -1.6912717819213867, -0.003960590809583664, 0.003960590809583664, 0.7593270540237427, -0.655184268951416, 0.3686961233615875, -1.5321965217590332, -0.23632410168647766, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9382390975952148, -1.058022379875183, 0.8573662638664246, 1.6340504884719849, 0.1504921019077301, -1.6927977800369263, -0.0025778780691325665, 0.0025778780691325665, 0.7593270540237427, -0.6563286781311035, 0.3686961233615875, -1.5325779914855957, -0.23670557141304016, 1.6275653839111328, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9382390975952148, -1.0584038496017456, 0.8581292629241943, 1.6340504884719849, 0.1501106321811676, -1.6935607194900513, -0.002597047481685877, 0.002597047481685877, 0.7593270540237427, -0.6589990258216858, 0.369840532541275, -1.5321965217590332, -0.23899443447589874, 1.6275653839111328, -0.002879644278436899, 0.002879644278436899], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9351872801780701, -1.0584038496017456, 0.8585107326507568, 1.637483835220337, 0.1501106321811676, -1.6905088424682617, -0.002597047481685877, 0.002597047481685877, 0.7597085237503052, -0.6673914790153503, 0.3732738196849823, -1.5329594612121582, -0.23594263195991516, 1.6275653839111328, -0.008489737287163734, 0.008489737287163734], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9332799315452576, -1.058022379875183, 0.8581292629241943, 1.6371023654937744, 0.1501106321811676, -1.6908903121948242, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.6822690367698669, 0.37975889444351196, -1.5329594612121582, -0.23632410168647766, 1.6275653839111328, -0.014198938384652138, 0.014198938384652138], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9180209040641785, -1.049248456954956, 0.8497368097305298, 1.637483835220337, 0.1497291475534439, -1.6908903121948242, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.6944762468338013, 0.3850995600223541, -1.5333409309387207, -0.23632410168647766, 1.6275653839111328, -0.01670129969716072, 0.01670129969716072], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8802548050880432, -1.0152971744537354, 0.8215075731277466, 1.6371023654937744, 0.1497291475534439, -1.6912717819213867, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.7013428211212158, 0.387006938457489, -1.5333409309387207, -0.23594263195991516, 1.6275653839111328, -0.01670129969716072, 0.01670129969716072], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8192187547683716, -0.9454871416091919, 0.763523280620575, 1.637483835220337, 0.1497291475534439, -1.6908903121948242, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.7047760486602783, 0.3881513774394989, -1.5333409309387207, -0.23594263195991516, 1.6275653839111328, -0.01670129969716072, 0.01670129969716072], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7291905283927917, -0.838674008846283, 0.6761654019355774, 1.6371023654937744, 0.1493476778268814, -1.6824978590011597, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.7063019871711731, 0.3889143168926239, -1.5329594612121582, -0.23632410168647766, 1.6275653839111328, -0.016691716387867928, 0.016691716387867928], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.614366352558136, -0.7089722752571106, 0.5724040865898132, 1.636720895767212, 0.1493476778268814, -1.6798275709152222, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.7070649266242981, 0.3896772861480713, -1.5329594612121582, -0.23632410168647766, 1.6275653839111328, -0.016682134941220284, 0.016682134941220284], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4835202693939209, -0.5708781480789185, 0.46253910660743713, 1.6359578371047974, 0.1501106321811676, -1.6912717819213867, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.7078278660774231, 0.3896772861480713, -1.5329594612121582, -0.23594263195991516, 1.6275653839111328, -0.01667255535721779, 0.01667255535721779], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36907759308815, -0.46025025844573975, 0.368314653635025, 1.6340504884719849, 0.1501106321811676, -1.6947051286697388, -0.002592251170426607, 0.002592251170426607, 0.7600900530815125, -0.7078278660774231, 0.3896772861480713, -1.5329594612121582, -0.23594263195991516, 1.6275653839111328, -0.016662975773215294, 0.016662975773215294], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.273708701133728, -0.387006938457489, 0.2939268946647644, 1.6340504884719849, 0.14820325374603271, -1.6985198259353638, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.7082093358039856, 0.3896772861480713, -1.5329594612121582, -0.23594263195991516, 1.6275653839111328, -0.01665339805185795, 0.01665339805185795], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20618753135204315, -0.3526741564273834, 0.2447165697813034, 1.6344319581985474, 0.14820325374603271, -1.6996643543243408, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.7085908055305481, 0.3896772861480713, -1.5329594612121582, -0.23594263195991516, 1.6275653839111328, -0.016328606754541397, 0.016328606754541397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16422522068023682, -0.34580758213996887, 0.2157244235277176, 1.6351948976516724, 0.1489662081003189, -1.7019531726837158, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.7089722752571106, 0.3896772861480713, -1.5329594612121582, -0.23594263195991516, 1.6275653839111328, -0.01628098636865616, 0.01628098636865616], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12989242374897003, -0.3614480793476105, 0.1970321238040924, 1.6355763673782349, 0.1501106321811676, -1.7023346424102783, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.7097352743148804, 0.3896772861480713, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.01628098636865616, 0.01628098636865616], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1024261862039566, -0.3915846347808838, 0.1840619444847107, 1.6371023654937744, 0.1501106321811676, -1.7027161121368408, -0.002597047481685877, 0.002597047481685877, 0.7600900530815125, -0.7104982137680054, 0.3896772861480713, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.016119351610541344, 0.016119351610541344], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07839322835206985, -0.42858776450157166, 0.164988175034523, 1.6371023654937744, 0.17719538509845734, -1.7023346424102783, -0.002592251170426607, 0.002592251170426607, 0.7600900530815125, -0.7120240926742554, 0.3896772861480713, -1.5325779914855957, -0.23632410168647766, 1.6275653839111328, -0.015618320554494858, 0.015618320554494858], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05970092490315437, -0.4732204079627991, 0.14362554252147675, 1.6371023654937744, 0.2576867341995239, -1.7019531726837158, -0.002592251170426607, 0.002592251170426607, 0.7600900530815125, -0.7135500311851501, 0.3896772861480713, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.015618320554494858, 0.015618320554494858], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04940108209848404, -0.5144197940826416, 0.1325627565383911, 1.6371023654937744, 0.309567391872406, -1.7015717029571533, -0.002592251170426607, 0.002592251170426607, 0.7600900530815125, -0.7150759100914001, 0.3896772861480713, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.015618320554494858, 0.015618320554494858], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.042153049260377884, -0.5605783462524414, 0.12455176562070847, 1.636720895767212, 0.3408484160900116, -1.7011902332305908, -0.002592251170426607, 0.002592251170426607, 0.7600900530815125, -0.7158388495445251, 0.3896772861480713, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.015618320554494858, 0.015618320554494858], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03643091395497322, -0.6101701259613037, 0.1203555315732956, 1.636720895767212, 0.3576333224773407, -1.7019531726837158, -0.002601846121251583, 0.002601846121251583, 0.7600900530815125, -0.7166017889976501, 0.3896772861480713, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.015618320554494858, 0.015618320554494858], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03337911143898964, -0.6570916175842285, 0.1184481605887413, 1.636720895767212, 0.36564430594444275, -1.7107270956039429, -0.0036621771287173033, 0.0036621771287173033, 0.7600900530815125, -0.7173647880554199, 0.3896772861480713, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.015618320554494858, 0.015618320554494858], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03147173300385475, -0.692568838596344, 0.11692225188016891, 1.6363393068313599, 0.3728923499584198, -1.7175936698913574, -0.004959389567375183, 0.004959389567375183, 0.7600900530815125, -0.7192721366882324, 0.3896772861480713, -1.5325779914855957, -0.23632410168647766, 1.6275653839111328, -0.015618320554494858, 0.015618320554494858], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.029564354568719864, -0.7127870321273804, 0.11577782779932022, 1.636720895767212, 0.37899595499038696, -1.7214083671569824, -0.00642980495467782, 0.00642980495467782, 0.7600900530815125, -0.7196536064147949, 0.3896772861480713, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.015618320554494858, 0.015618320554494858], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02727550081908703, -0.7219424843788147, 0.11425192654132843, 1.636720895767212, 0.37937742471694946, -1.7248417139053345, -0.006549805402755737, 0.006549805402755737, 0.7600900530815125, -0.7207980751991272, 0.3896772861480713, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.015627732500433922, 0.015627732500433922], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02193484455347061, -0.7227054238319397, 0.11234454810619354, 1.636720895767212, 0.37937742471694946, -1.7256046533584595, -0.007959499023854733, 0.007959499023854733, 0.7600900530815125, -0.7211795449256897, 0.3900587558746338, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.015721939504146576, 0.015721939504146576], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01735713705420494, -0.7009612917900085, 0.11081864684820175, 1.6363393068313599, 0.37937742471694946, -1.728274941444397, -0.009774550795555115, 0.009774550795555115, 0.7600900530815125, -0.7215610146522522, 0.3904402256011963, -1.5325779914855957, -0.23594263195991516, 1.6275653839111328, -0.01670129969716072, 0.01670129969716072], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01506828423589468, -0.6509880423545837, 0.11005569249391556, 1.6363393068313599, 0.37937742471694946, -1.7301822900772095, -0.012745926156640053, 0.012745926156640053, 0.7581826448440552, -0.7219424843788147, 0.3999771177768707, -1.5325779914855957, -0.21877622604370117, 1.6275653839111328, -0.01670129969716072, 0.01670129969716072], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018120087683200836, -0.5781261920928955, 0.11005569249391556, 1.6344319581985474, 0.37975889444351196, -1.7416266202926636, -0.01686442643404007, 0.01686442643404007, 0.7471198439598083, -0.734912633895874, 0.4369802474975586, -1.5329594612121582, -0.1340886503458023, 1.6275653839111328, -0.01670129969716072, 0.01670129969716072], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03376058489084244, -0.4999237060546875, 0.11234454810619354, 1.6348134279251099, 0.37975889444351196, -1.7469673156738281, -0.018603432923555374, 0.018603432923555374, 0.7238498330116272, -0.7822155952453613, 0.5155642032623291, -1.5321965217590332, 0.03147173300385475, 1.6275653839111328, -0.01830955408513546, 0.01830955408513546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06198977679014206, -0.42935073375701904, 0.12493324279785156, 1.6355763673782349, 0.361829549074173, -1.7519264221191406, -0.018613241612911224, 0.018613241612911224, 0.7021057605743408, -0.8684290647506714, 0.6254291534423828, -1.5321965217590332, 0.2660791873931885, 1.6275653839111328, -0.01905560865998268, 0.01905560865998268], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10128175467252731, -0.3755626678466797, 0.1520180106163025, 1.6371023654937744, 0.28629741072654724, -1.7576485872268677, -0.019835932180285454, 0.019835932180285454, 0.6868467330932617, -0.9657053351402283, 0.7322422862052917, -1.5321965217590332, 0.506027340888977, 1.6275653839111328, -0.019065456464886665, 0.019065456464886665], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14248111844062805, -0.3370336592197418, 0.1848248988389969, 1.6371023654937744, 0.1966506391763687, -1.7671854496002197, -0.020669598132371902, 0.020669598132371902, 0.6795986890792847, -1.0503928661346436, 0.8169298768043518, -1.5321965217590332, 0.6979095339775085, 1.6275653839111328, -0.019539106637239456, 0.019539106637239456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1825360506772995, -0.3072785437107086, 0.21152819693088531, 1.6355763673782349, 0.11081864684820175, -1.7748149633407593, -0.020669598132371902, 0.020669598132371902, 0.6734950542449951, -1.1190584897994995, 0.8779659867286682, -1.5318150520324707, 0.8558403849601746, 1.6275653839111328, -0.020361555740237236, 0.020361555740237236], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21725031733512878, -0.28477150201797485, 0.22755016386508942, 1.6351948976516724, 0.058175019919872284, -1.7813000679016113, -0.020669598132371902, 0.020669598132371902, 0.6658655405044556, -1.1728465557098389, 0.9119172692298889, -1.5318150520324707, 0.959220290184021, 1.6275653839111328, -0.020361555740237236, 0.020361555740237236], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23670557141304016, -0.2725642919540405, 0.23708705604076385, 1.6355763673782349, 0.029564354568719864, -1.7854963541030884, -0.020669598132371902, 0.020669598132371902, 0.6624323129653931, -1.2140458822250366, 0.9252689480781555, -1.5321965217590332, 1.0149157047271729, 1.6271839141845703, -0.020351625978946686, 0.020351625978946686], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2462424635887146, -0.26913100481033325, 0.24204623699188232, 1.6351948976516724, 0.010490577667951584, -1.7885481119155884, -0.020669598132371902, 0.020669598132371902, 0.6601434350013733, -1.256008267402649, 0.9317540526390076, -1.5321965217590332, 1.047722578048706, 1.6271839141845703, -0.020331768319010735, 0.020331768319010735], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25120165944099426, -0.26798656582832336, 0.2439536154270172, 1.6355763673782349, -0.00019073777366429567, -1.7889295816421509, -0.020659655332565308, 0.020659655332565308, 0.6586175560951233, -1.2903410196304321, 0.9355688095092773, -1.5321965217590332, 1.0538262128829956, 1.6271839141845703, -0.020321838557720184, 0.020321838557720184], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25196459889411926, -0.26798656582832336, 0.2443350851535797, 1.6359578371047974, -0.005531395319849253, -1.7889295816421509, -0.020659655332565308, 0.020659655332565308, 0.6586175560951233, -1.3178073167800903, 0.9386205673217773, -1.5318150520324707, 1.056496500968933, 1.6271839141845703, -0.019598428159952164, 0.019598428159952164], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24929426610469818, -0.26951247453689575, 0.2439536154270172, 1.636720895767212, -0.008201723918318748, -1.7889295816421509, -0.020649712532758713, 0.020649712532758713, 0.6582360863685608, -1.335736632347107, 0.9397650361061096, -1.5321965217590332, 1.0530632734298706, 1.6271839141845703, -0.017578894272446632, 0.017578894272446632], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2447165697813034, -0.2725642919540405, 0.24357213079929352, 1.636720895767212, -0.011635004542768002, -1.7889295816421509, -0.020639771595597267, 0.020639771595597267, 0.6582360863685608, -1.350995659828186, 0.9409094452857971, -1.5321965217590332, 1.047722578048706, 1.6271839141845703, -0.016509903594851494, 0.016509903594851494], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23899443447589874, -0.2779049277305603, 0.24280919134616852, 1.636720895767212, -0.011635004542768002, -1.7889295816421509, -0.02062983065843582, 0.02062983065843582, 0.6582360863685608, -1.3624398708343506, 0.9424353241920471, -1.5325779914855957, 1.0408560037612915, 1.6271839141845703, -0.013699503615498543, 0.013699503615498543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23479819297790527, -0.28477150201797485, 0.24013885855674744, 1.636720895767212, -0.014686808921396732, -1.7893110513687134, -0.020619889721274376, 0.020619889721274376, 0.6582360863685608, -1.3708323240280151, 0.9428167939186096, -1.5329594612121582, 1.0400930643081665, 1.6271839141845703, -0.01071084849536419, 0.01071084849536419], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2309834510087967, -0.290875107049942, 0.23785001039505005, 1.636720895767212, -0.014686808921396732, -1.7889295816421509, -0.02060994878411293, 0.02060994878411293, 0.6582360863685608, -1.3769359588623047, 0.9439612627029419, -1.5325779914855957, 1.035896897315979, 1.6271839141845703, -0.00960883591324091, 0.00960883591324091], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2302204966545105, -0.2962157726287842, 0.23632410168647766, 1.636720895767212, -0.014686808921396732, -1.7893110513687134, -0.02053043432533741, 0.02053043432533741, 0.6582360863685608, -1.3811322450637817, 0.9451056718826294, -1.5329594612121582, 1.0351338386535645, 1.6271839141845703, -0.009242239408195019, 0.009242239408195019], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2286945879459381, -0.30079346895217896, 0.23517967760562897, 1.636720895767212, -0.014686808921396732, -1.7893110513687134, -0.02053043432533741, 0.02053043432533741, 0.6582360863685608, -1.3834210634231567, 0.9466315507888794, -1.5329594612121582, 1.035896897315979, 1.6271839141845703, -0.008296595886349678, 0.008296595886349678], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2286945879459381, -0.30231937766075134, 0.23556114733219147, 1.636720895767212, -0.01430533267557621, -1.7893110513687134, -0.02053043432533741, 0.02053043432533741, 0.6578545570373535, -1.3853284120559692, 0.952735185623169, -1.5329594612121582, 1.0343708992004395, 1.6271839141845703, -0.008296595886349678, 0.008296595886349678], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2286945879459381, -0.30270084738731384, 0.23556114733219147, 1.636720895767212, -0.013923857361078262, -1.7896925210952759, -0.02053043432533741, 0.02053043432533741, 0.6517509818077087, -1.3853284120559692, 0.9676127433776855, -1.5318150520324707, 1.0435264110565186, 1.6271839141845703, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2286945879459381, -0.30270084738731384, 0.23556114733219147, 1.6359578371047974, -0.013923857361078262, -1.7935073375701904, -0.02053043432533741, 0.02053043432533741, 0.6383993029594421, -1.3838025331497192, 0.995841920375824, -1.5436408519744873, 1.0614557266235352, 1.6271839141845703, -0.008296595886349678, 0.008296595886349678], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2309834510087967, -0.29926756024360657, 0.23632410168647766, 1.6363393068313599, -0.013923857361078262, -1.7965590953826904, -0.02053043432533741, 0.02053043432533741, 0.6280995011329651, -1.3643473386764526, 1.0290303230285645, -1.5657663345336914, 1.0862516164779663, 1.6271839141845703, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23899443447589874, -0.2924010157585144, 0.23899443447589874, 1.6363393068313599, -0.013542382046580315, -1.7980849742889404, -0.02053043432533741, 0.02053043432533741, 0.620088517665863, -1.3082703351974487, 1.046196699142456, -1.581406831741333, 1.0751888751983643, 1.6271839141845703, -0.008296595886349678, 0.008296595886349678], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25577935576438904, -0.28400853276252747, 0.24319066107273102, 1.6359578371047974, -0.01201647985726595, -1.808003306388855, -0.02053043432533741, 0.02053043432533741, 0.6189440488815308, -1.2121385335922241, 1.02216374874115, -1.5917067527770996, 0.9901197552680969, 1.6271839141845703, -0.008296595886349678, 0.008296595886349678], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28820478916168213, -0.2779049277305603, 0.2458609938621521, 1.636720895767212, -0.0024795911740511656, -1.815251350402832, -0.020550310611724854, 0.020550310611724854, 0.6311513185501099, -1.0927367210388184, 0.9454871416091919, -1.5947585105895996, 0.8352407217025757, 1.6271839141845703, -0.008296595886349678, 0.008296595886349678], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33550775051116943, -0.2740901708602905, 0.2500572204589844, 1.636720895767212, 0.023079270496964455, -1.8228808641433716, -0.020649712532758713, 0.020649712532758713, 0.6418325901031494, -0.9775310754776001, 0.8375295400619507, -1.595902919769287, 0.6467918157577515, 1.6271839141845703, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39463645219802856, -0.2748531401157379, 0.2592126429080963, 1.6371023654937744, 0.04329747334122658, -1.8263142108917236, -0.02146591618657112, 0.02146591618657112, 0.6521324515342712, -0.8855955004692078, 0.7238498330116272, -1.5989547967910767, 0.45643550157546997, 1.6275653839111328, -0.008296595886349678, 0.008296595886349678], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4648279547691345, -0.290112167596817, 0.264934778213501, 1.636720895767212, 0.0715266615152359, -1.8278400897979736, -0.026608597487211227, 0.026608597487211227, 0.6723506450653076, -0.8245593905448914, 0.620851457118988, -1.5989547967910767, 0.26874953508377075, 1.6271839141845703, -0.008296595886349678, 0.008296595886349678], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5479896068572998, -0.31910428404808044, 0.26722362637519836, 1.636720895767212, 0.14095520973205566, -1.8301289081573486, -0.029669087380170822, 0.029669087380170822, 0.6872282028198242, -0.7913710474967957, 0.5476081371307373, -1.5989547967910767, 0.10585946589708328, 1.6275653839111328, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6319142580032349, -0.36564430594444275, 0.27103838324546814, 1.6371023654937744, 0.22640573978424072, -1.824025273323059, -0.031186990439891815, 0.031186990439891815, 0.699053943157196, -0.7738231420516968, 0.5048828721046448, -1.5989547967910767, 0.0032425422687083483, 1.6275653839111328, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7028687000274658, -0.42744335532188416, 0.2798123061656952, 1.6371023654937744, 0.30270084738731384, -1.796940565109253, -0.0327100045979023, 0.0327100045979023, 0.7059205174446106, -0.7650492191314697, 0.481612890958786, -1.5989547967910767, -0.05359731614589691, 1.6279468536376953, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7551308274269104, -0.501068115234375, 0.2977416515350342, 1.636720895767212, 0.3564889132976532, -1.7729076147079468, -0.03379729017615318, 0.03379729017615318, 0.7192721366882324, -0.7600900530815125, 0.4663538634777069, -1.5989547967910767, -0.08945601433515549, 1.6279468536376953, -0.008296595886349678, 0.008296595886349678], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7928969264030457, -0.5739299654960632, 0.3213931620121002, 1.636720895767212, 0.3999771177768707, -1.7580300569534302, -0.034, 0.034, 0.7299534678459167, -0.7581826448440552, 0.45757991075515747, -1.5993362665176392, -0.11234454810619354, 1.6279468536376953, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8154039978981018, -0.6414511203765869, 0.34580758213996887, 1.6371023654937744, 0.4537651538848877, -1.7484931945800781, -0.034, 0.034, 0.7394903302192688, -0.7566567659378052, 0.4518577754497528, -1.5989547967910767, -0.1340886503458023, 1.6302357912063599, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8264667987823486, -0.6971465349197388, 0.3732738196849823, 1.6371023654937744, 0.49038681387901306, -1.7431524991989136, -0.034, 0.034, 0.7494087219238281, -0.7562752962112427, 0.4488059878349304, -1.5993362665176392, -0.14057374000549316, 1.6302357912063599, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8367666006088257, -0.7475013136863708, 0.404936283826828, 1.6371023654937744, 0.5140383243560791, -1.742008090019226, -0.034, 0.034, 0.7589455842971802, -0.7566567659378052, 0.44689860939979553, -1.5993362665176392, -0.14705882966518402, 1.6302357912063599, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.7948042750358582, 0.4369802474975586, 1.6371023654937744, 0.5251010656356812, -1.7393378019332886, -0.034, 0.034, 0.7665750980377197, -0.7562752962112427, 0.44613564014434814, -1.5993362665176392, -0.152399480342865, 1.6298543214797974, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8485923409461975, -0.839436948299408, 0.4701686203479767, 1.636720895767212, 0.5331120491027832, -1.7393378019332886, -0.034, 0.034, 0.7730602025985718, -0.7566567659378052, 0.44537270069122314, -1.5997177362442017, -0.15392538905143738, 1.6294728517532349, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8550774455070496, -0.8875028491020203, 0.507553219795227, 1.6371023654937744, 0.5357823967933655, -1.7416266202926636, -0.034, 0.034, 0.7768749594688416, -0.7566567659378052, 0.44537270069122314, -1.5997177362442017, -0.15392538905143738, 1.6287097930908203, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8619440197944641, -0.9302281141281128, 0.5415045619010925, 1.6371023654937744, 0.5376898050308228, -1.7439154386520386, -0.034, 0.034, 0.7791637778282166, -0.7566567659378052, 0.44537270069122314, -1.6000992059707642, -0.15430685877799988, 1.6268024444580078, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8680475950241089, -0.967994213104248, 0.572022557258606, 1.636720895767212, 0.54264897108078, -1.7553597688674927, -0.034, 0.034, 0.7795453071594238, -0.7570382356643677, 0.44499123096466064, -1.6000992059707642, -0.15430685877799988, 1.6264209747314453, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8710994124412537, -0.996604859828949, 0.5941481590270996, 1.636720895767212, 0.54264897108078, -1.7698558568954468, -0.03060954064130783, 0.03060954064130783, 0.7799267768859863, -0.7578011751174927, 0.44499123096466064, -1.6000992059707642, -0.15468832850456238, 1.6268024444580078, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8733882904052734, -1.0141527652740479, 0.6078813076019287, 1.636720895767212, 0.54264897108078, -1.7813000679016113, -0.021984074264764786, 0.021984074264764786, 0.7799267768859863, -0.7585641145706177, 0.44499123096466064, -1.6000992059707642, -0.15468832850456238, 1.6268024444580078, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8760585784912109, -1.02216374874115, 0.6147478222846985, 1.636720895767212, 0.54264897108078, -1.7893110513687134, -0.013474522158503532, 0.013474522158503532, 0.7799267768859863, -0.7600900530815125, 0.44499123096466064, -1.6000992059707642, -0.15506981313228607, 1.6268024444580078, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8798733353614807, -1.0267413854599, 0.6181811094284058, 1.636720895767212, 0.54264897108078, -1.7980849742889404, -0.010942052118480206, 0.010942052118480206, 0.7799267768859863, -0.763523280620575, 0.44537270069122314, -1.6004806756973267, -0.15621423721313477, 1.6268024444580078, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.884069561958313, -1.028648853302002, 0.6204699873924255, 1.6371023654937744, 0.5430304408073425, -1.799229383468628, -0.010021320544183254, 0.010021320544183254, 0.7799267768859863, -0.7669565677642822, 0.44651713967323303, -1.6008621454238892, -0.15697719156742096, 1.6271839141845703, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -1.0290303230285645, 0.6212329268455505, 1.6371023654937744, 0.54264897108078, -1.799229383468628, -0.009869772009551525, 0.009869772009551525, 0.7799267768859863, -0.7696269154548645, 0.44766154885292053, -1.6004806756973267, -0.15735866129398346, 1.6271839141845703, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8875028491020203, -1.029411792755127, 0.6212329268455505, 1.6363393068313599, 0.5422675013542175, -1.799229383468628, -0.009822113439440727, 0.009822113439440727, 0.7799267768859863, -0.7711527943611145, 0.44804301857948303, -1.6004806756973267, -0.15774014592170715, 1.6271839141845703, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8901731967926025, -1.029411792755127, 0.621614396572113, 1.6363393068313599, 0.541886031627655, -1.799229383468628, -0.009814179502427578, 0.009814179502427578, 0.7799267768859863, -0.7730602025985718, 0.4488059878349304, -1.6004806756973267, -0.15774014592170715, 1.6271839141845703, -0.00828920491039753, 0.00828920491039753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.892080545425415, -1.0290303230285645, 0.6219958662986755, 1.6351948976516724, 0.5403600931167603, -1.7988479137420654, -0.009806248359382153, 0.009806248359382153, 0.7799267768859863, -0.7818341255187988, 0.4526207447052002, -1.6004806756973267, -0.15659570693969727, 1.6275653839111328, -0.00943649560213089, 0.00943649560213089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8901731967926025, -1.025978446006775, 0.620851457118988, 1.6355763673782349, 0.5422675013542175, -1.7988479137420654, -0.009806248359382153, 0.009806248359382153, 0.7799267768859863, -0.7944228053092957, 0.45834288001060486, -1.6008621454238892, -0.15430685877799988, 1.6275653839111328, -0.01364538911730051, 0.01364538911730051], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8756771087646484, -1.0114823579788208, 0.6086442470550537, 1.6371023654937744, 0.54264897108078, -1.7950332164764404, -0.009798320010304451, 0.009798320010304451, 0.7799267768859863, -0.8016708493232727, 0.46063172817230225, -1.6008621454238892, -0.15392538905143738, 1.6275653839111328, -0.014982291497290134, 0.014982291497290134], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8447775840759277, -0.9733348488807678, 0.5758373141288757, 1.6371023654937744, 0.5422675013542175, -1.7828259468078613, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8054856061935425, 0.46177613735198975, -1.6008621454238892, -0.15392538905143738, 1.6275653839111328, -0.01512190606445074, 0.01512190606445074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7936598658561707, -0.8989471197128296, 0.5163271427154541, 1.636720895767212, 0.5422675013542175, -1.7687113285064697, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8073930144309998, 0.46215763688087463, -1.6008621454238892, -0.15430685877799988, 1.6275653839111328, -0.01512190606445074, 0.01512190606445074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7204165458679199, -0.7867932915687561, 0.439269095659256, 1.636720895767212, 0.5334935784339905, -1.7462043762207031, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8085374236106873, 0.46215763688087463, -1.6012436151504517, -0.15430685877799988, 1.6275653839111328, -0.01512190606445074, 0.01512190606445074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6254291534423828, -0.648699164390564, 0.3728923499584198, 1.6340504884719849, 0.4526207447052002, -1.7214083671569824, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8089188933372498, 0.46215763688087463, -1.6020065546035767, -0.15430685877799988, 1.6275653839111328, -0.01512190606445074, 0.01512190606445074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5186160206794739, -0.5086976289749146, 0.308041512966156, 1.6340504884719849, 0.33665215969085693, -1.6912717819213867, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8089188933372498, 0.46177613735198975, -1.6016250848770142, -0.15430685877799988, 1.6275653839111328, -0.01512190606445074, 0.01512190606445074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39806973934173584, -0.3889143168926239, 0.2458609938621521, 1.6344319581985474, 0.273708701133728, -1.6710536479949951, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8093003630638123, 0.46139466762542725, -1.6016250848770142, -0.15430685877799988, 1.6275653839111328, -0.015112586319446564, 0.015112586319446564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2939268946647644, -0.32520791888237, 0.20237277448177338, 1.6344319581985474, 0.23594263195991516, -1.664568543434143, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8089188933372498, 0.46139466762542725, -1.6016250848770142, -0.15430685877799988, 1.6275653839111328, -0.015103267505764961, 0.015103267505764961], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21953918039798737, -0.3110933005809784, 0.17223620414733887, 1.6348134279251099, 0.22335393726825714, -1.6641870737075806, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8093003630638123, 0.46101319789886475, -1.6016250848770142, -0.15468832850456238, 1.6275653839111328, -0.015093951486051083, 0.015093951486051083], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17299915850162506, -0.3381780683994293, 0.1489662081003189, 1.637483835220337, 0.24891279637813568, -1.663805603981018, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8093003630638123, 0.46063172817230225, -1.6016250848770142, -0.15468832850456238, 1.6275653839111328, -0.015084635466337204, 0.015084635466337204], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13904783129692078, -0.38319218158721924, 0.13218127191066742, 1.6378653049468994, 0.308041512966156, -1.663805603981018, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8093003630638123, 0.45986875891685486, -1.6012436151504517, -0.15468832850456238, 1.6275653839111328, -0.015000885352492332, 0.015000885352492332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10891126841306686, -0.4331654906272888, 0.1203555315732956, 1.637483835220337, 0.3542000353336334, -1.664568543434143, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8093003630638123, 0.45986875891685486, -1.6012436151504517, -0.15468832850456238, 1.6275653839111328, -0.015000885352492332, 0.015000885352492332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08411535620689392, -0.47817960381507874, 0.11348897218704224, 1.637483835220337, 0.38090333342552185, -1.666857361793518, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8093003630638123, 0.45986875891685486, -1.6012436151504517, -0.15468832850456238, 1.6275653839111328, -0.014575103297829628, 0.014575103297829628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06733043491840363, -0.5201418995857239, 0.10967422276735306, 1.637483835220337, 0.39616236090660095, -1.6680018901824951, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8100633025169373, 0.45948728919029236, -1.6008621454238892, -0.15506981313228607, 1.6275653839111328, -0.013907619751989841, 0.013907619751989841], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05245288833975792, -0.5582894682884216, 0.10738536715507507, 1.6371023654937744, 0.4056992530822754, -1.6687648296356201, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.810826301574707, 0.45986875891685486, -1.6008621454238892, -0.15506981313228607, 1.6275653839111328, -0.013907619751989841, 0.013907619751989841], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.043678950518369675, -0.5888075232505798, 0.10624094307422638, 1.637483835220337, 0.41065841913223267, -1.6718165874481201, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.8112077713012695, 0.45986875891685486, -1.6008621454238892, -0.15506981313228607, 1.6275653839111328, -0.013907619751989841, 0.013907619751989841], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03795681521296501, -0.615129292011261, 0.10547798871994019, 1.6371023654937744, 0.41485464572906494, -1.6832607984542847, -0.009734987281262875, 0.009734987281262875, 0.7799267768859863, -0.811589241027832, 0.45986875891685486, -1.6008621454238892, -0.15506981313228607, 1.6275653839111328, -0.013925766572356224, 0.013925766572356224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.032616160809993744, -0.6353475451469421, 0.10433356463909149, 1.6371023654937744, 0.41638055443763733, -1.6920348405838013, -0.009893637150526047, 0.009893637150526047, 0.7799267768859863, -0.811589241027832, 0.45986875891685486, -1.6008621454238892, -0.15506981313228607, 1.6275653839111328, -0.013925766572356224, 0.013925766572356224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02689402550458908, -0.647173285484314, 0.1035706102848053, 1.6371023654937744, 0.41676202416419983, -1.6985198259353638, -0.010595995001494884, 0.010595995001494884, 0.7799267768859863, -0.811589241027832, 0.45986875891685486, -1.6008621454238892, -0.15468832850456238, 1.6275653839111328, -0.013925766572356224, 0.013925766572356224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.024986648932099342, -0.6460288166999817, 0.10204470902681351, 1.6371023654937744, 0.4171435236930847, -1.7023346424102783, -0.013340161181986332, 0.013340161181986332, 0.7799267768859863, -0.8134965896606445, 0.4648279547691345, -1.5997177362442017, -0.14591439068317413, 1.6275653839111328, -0.013925766572356224, 0.013925766572356224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02384222112596035, -0.6334401369094849, 0.10204470902681351, 1.6371023654937744, 0.4171435236930847, -1.7061493396759033, -0.018358472734689713, 0.018358472734689713, 0.7799267768859863, -0.8245593905448914, 0.4842832088470459, -1.571869969367981, -0.09899290651082993, 1.6275653839111328, -0.013934844173491001, 0.013934844173491001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02079041674733162, -0.6155108213424683, 0.10204470902681351, 1.636720895767212, 0.4175249934196472, -1.7061493396759033, -0.02095807157456875, 0.02095807157456875, 0.778782308101654, -0.8623254895210266, 0.5350194573402405, -1.5070191621780396, 0.010490577667951584, 1.6279468536376953, -0.013943922705948353, 0.013943922705948353], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.020027466118335724, -0.5884260535240173, 0.10204470902681351, 1.636720895767212, 0.4175249934196472, -1.7072938680648804, -0.02283083088696003, 0.02283083088696003, 0.776493489742279, -0.9290837049484253, 0.6155108213424683, -1.4646753072738647, 0.1646067053079605, 1.6302357912063599, -0.015075323171913624, 0.015075323171913624], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.031090257689356804, -0.5449378490447998, 0.10204470902681351, 1.636720895767212, 0.4175249934196472, -1.7092012166976929, -0.023655951023101807, 0.023655951023101807, 0.7753490209579468, -1.0217822790145874, 0.725375771522522, -1.4414052963256836, 0.34924086928367615, 1.6302357912063599, -0.015112586319446564, 0.015112586319446564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05207141116261482, -0.49420157074928284, 0.10471503436565399, 1.636720895767212, 0.4194323718547821, -1.7092012166976929, -0.02706073597073555, 0.02706073597073555, 0.7745860815048218, -1.1381323337554932, 0.8554589152336121, -1.4272907972335815, 0.5582894682884216, 1.6298543214797974, -0.015112586319446564, 0.015112586319446564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08068207651376724, -0.4518577754497528, 0.10852979123592377, 1.636720895767212, 0.4201953113079071, -1.7088197469711304, -0.027661707252264023, 0.027661707252264023, 0.7734416723251343, -1.2460898160934448, 0.967994213104248, -1.4185168743133545, 0.7200350761413574, 1.6298543214797974, -0.015112586319446564, 0.015112586319446564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11272602528333664, -0.4240100681781769, 0.11234454810619354, 1.636720895767212, 0.4201953113079071, -1.7092012166976929, -0.028443502262234688, 0.028443502262234688, 0.7719157934188843, -1.353284478187561, 1.0748074054718018, -1.4150835275650024, 0.8588922023773193, 1.6290913820266724, -0.015112586319446564, 0.015112586319446564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14057374000549316, -0.41027694940567017, 0.11425192654132843, 1.6371023654937744, 0.4194323718547821, -1.7095826864242554, -0.02852753736078739, 0.02852753736078739, 0.768482506275177, -1.436446189880371, 1.1575875282287598, -1.4127947092056274, 0.9504463076591492, 1.6264209747314453, -0.014982291497290134, 0.014982291497290134], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.4053177833557129, 0.11463340371847153, 1.636720895767212, 0.41638055443763733, -1.7099641561508179, -0.02852753736078739, 0.02852753736078739, 0.761997401714325, -1.4982452392578125, 1.2224383354187012, -1.409742832183838, 1.0034713745117188, 1.6268024444580078, -0.014982291497290134, 0.014982291497290134], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1516365259885788, -0.403410404920578, 0.11463340371847153, 1.636720895767212, 0.41676202416419983, -1.7103456258773804, -0.02852753736078739, 0.02852753736078739, 0.7501716613769531, -1.5417333841323853, 1.269359827041626, -1.4093613624572754, 1.0385671854019165, 1.6268024444580078, -0.014982291497290134, 0.014982291497290134], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13981078565120697, -0.4030289053916931, 0.11501488089561462, 1.6363393068313599, 0.41638055443763733, -1.7133973836898804, -0.02852753736078739, 0.02852753736078739, 0.7330052852630615, -1.570344090461731, 1.2983520030975342, -1.4093613624572754, 1.0610742568969727, 1.6268024444580078, -0.013826054520905018, 0.013826054520905018], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12684062123298645, -0.4030289053916931, 0.11501488089561462, 1.636720895767212, 0.41638055443763733, -1.7133973836898804, -0.02852753736078739, 0.02852753736078739, 0.7139315009117126, -1.590562343597412, 1.3174258470535278, -1.4093613624572754, 1.0736628770828247, 1.6268024444580078, -0.01309063658118248, 0.01309063658118248], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11654078215360641, -0.4030289053916931, 0.11501488089561462, 1.636720895767212, 0.41638055443763733, -1.7130159139633179, -0.02852753736078739, 0.02852753736078739, 0.698291003704071, -1.6054397821426392, 1.3303959369659424, -1.4093613624572754, 1.0782406330108643, 1.6268024444580078, -0.013099518604576588, 0.013099518604576588], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10929274559020996, -0.4045548141002655, 0.11501488089561462, 1.636720895767212, 0.41638055443763733, -1.7130159139633179, -0.02852753736078739, 0.02852753736078739, 0.691042959690094, -1.6184099912643433, 1.3426032066345215, -1.409742832183838, 1.0858701467514038, 1.6271839141845703, -0.01310840342193842, 0.01310840342193842], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10051880776882172, -0.4079881012439728, 0.11463340371847153, 1.636720895767212, 0.41638055443763733, -1.7130159139633179, -0.028518207371234894, 0.028518207371234894, 0.6879911422729492, -1.6302357912063599, 1.3563363552093506, -1.408216953277588, 1.0866330862045288, 1.6268024444580078, -0.01310840342193842, 0.01310840342193842], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09365224838256836, -0.41103988885879517, 0.11348897218704224, 1.636720895767212, 0.41676202416419983, -1.7126344442367554, -0.02852753736078739, 0.02852753736078739, 0.691805899143219, -1.6451133489608765, 1.3723583221435547, -1.4085984230041504, 1.0912108421325684, 1.6268024444580078, -0.01310840342193842, 0.01310840342193842], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08564125746488571, -0.41485464572906494, 0.11234454810619354, 1.636720895767212, 0.41676202416419983, -1.7122529745101929, -0.02852753736078739, 0.02852753736078739, 0.6994354128837585, -1.6672388315200806, 1.3944838047027588, -1.408216953277588, 1.104180932044983, 1.6268024444580078, -0.01310840342193842, 0.01310840342193842], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07763027399778366, -0.4201953113079071, 0.11196307092905045, 1.636720895767212, 0.41676202416419983, -1.7122529745101929, -0.02852753736078739, 0.02852753736078739, 0.7040131092071533, -1.6920348405838013, 1.418135404586792, -1.4063096046447754, 1.122873306274414, 1.6268024444580078, -0.01310840342193842, 0.01310840342193842], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06618601083755493, -0.42591744661331177, 0.11120012402534485, 1.6363393068313599, 0.41638055443763733, -1.7103456258773804, -0.028518207371234894, 0.028518207371234894, 0.7043945789337158, -1.7092012166976929, 1.434157371520996, -1.4085984230041504, 1.1335545778274536, 1.6271839141845703, -0.01310840342193842, 0.01310840342193842], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0551232174038887, -0.43011367321014404, 0.11043716967105865, 1.636720895767212, 0.41676202416419983, -1.7099641561508179, -0.028518207371234894, 0.028518207371234894, 0.7063019871711731, -1.720263957977295, 1.4452201128005981, -1.408979892730713, 1.1400396823883057, 1.6271839141845703, -0.01303738635033369, 0.01303738635033369], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.045204851776361465, -0.43240252137184143, 0.11043716967105865, 1.636720895767212, 0.41676202416419983, -1.7103456258773804, -0.02852753736078739, 0.02852753736078739, 0.7085908055305481, -1.7278934717178345, 1.4539940357208252, -1.408216953277588, 1.1461433172225952, 1.6271839141845703, -0.01248306967318058, 0.01248306967318058], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03528648987412453, -0.4346913993358612, 0.11043716967105865, 1.636720895767212, 0.41676202416419983, -1.7103456258773804, -0.02852753736078739, 0.02852753736078739, 0.7112611532211304, -1.7351415157318115, 1.4631494283676147, -1.4085984230041504, 1.1488136053085327, 1.6271839141845703, -0.01248306967318058, 0.01248306967318058], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.026512550190091133, -0.4373617172241211, 0.11043716967105865, 1.6363393068313599, 0.41676202416419983, -1.7103456258773804, -0.028518207371234894, 0.028518207371234894, 0.7169833183288574, -1.7431524991989136, 1.4726864099502563, -1.4085984230041504, 1.1491950750350952, 1.6271839141845703, -0.012395905330777168, 0.012395905330777168], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.019645990803837776, -0.4388876259326935, 0.10967422276735306, 1.636720895767212, 0.41676202416419983, -1.7130159139633179, -0.02852753736078739, 0.02852753736078739, 0.7227054238319397, -1.7523078918457031, 1.4784084558486938, -1.406691074371338, 1.1503394842147827, 1.6271839141845703, -0.012395905330777168, 0.012395905330777168], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.016975661739706993, -0.4396505653858185, 0.10929274559020996, 1.6359578371047974, 0.41676202416419983, -1.7130159139633179, -0.02852753736078739, 0.02852753736078739, 0.7230868935585022, -1.7587929964065552, 1.4791713953018188, -1.4078354835510254, 1.1526284217834473, 1.6271839141845703, -0.011749581433832645, 0.011749581433832645], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.013160906732082367, -0.44079500436782837, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7126344442367554, -0.02852753736078739, 0.02852753736078739, 0.7230868935585022, -1.7626078128814697, 1.4784084558486938, -1.4093613624572754, 1.1526284217834473, 1.6271839141845703, -0.011175229214131832, 0.011175229214131832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.44460976123809814, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7126344442367554, -0.02852753736078739, 0.02852753736078739, 0.7227054238319397, -1.7652781009674072, 1.4784084558486938, -1.408979892730713, 1.1530098915100098, 1.6271839141845703, -0.010661562904715538, 0.010661562904715538], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01201647985726595, -0.44804301857948303, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7126344442367554, -0.028518207371234894, 0.028518207371234894, 0.7207980751991272, -1.7675669193267822, 1.4791713953018188, -1.4093613624572754, 1.1530098915100098, 1.6271839141845703, -0.008549544028937817, 0.008549544028937817], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -0.4518577754497528, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7122529745101929, -0.02852753736078739, 0.02852753736078739, 0.7204165458679199, -1.7687113285064697, 1.4799343347549438, -1.4093613624572754, 1.1530098915100098, 1.6271839141845703, -0.008422667160630226, 0.008422667160630226], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -0.4533836841583252, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7122529745101929, -0.028518207371234894, 0.028518207371234894, 0.7204165458679199, -1.7698558568954468, 1.4799343347549438, -1.408979892730713, 1.1530098915100098, 1.6271839141845703, -0.008422667160630226, 0.008422667160630226], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -0.4549095928668976, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7122529745101929, -0.02852753736078739, 0.02852753736078739, 0.7200350761413574, -1.7710002660751343, 1.4803158044815063, -1.4101243019104004, 1.1530098915100098, 1.6271839141845703, -0.00697705801576376, 0.00697705801576376], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -0.4552910625934601, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7118715047836304, -0.028518207371234894, 0.028518207371234894, 0.7185091972351074, -1.7725261449813843, 1.4799343347549438, -1.4085984230041504, 1.1533913612365723, 1.6271839141845703, -0.006127321161329746, 0.006127321161329746], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.010872052982449532, -0.4556725323200226, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7095826864242554, -0.028518207371234894, 0.028518207371234894, 0.7188906669616699, -1.7729076147079468, 1.4791713953018188, -1.408979892730713, 1.1530098915100098, 1.6271839141845703, -0.005881976336240768, 0.005881976336240768], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -0.45643550157546997, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7099641561508179, -0.028518207371234894, 0.028518207371234894, 0.7188906669616699, -1.7740520238876343, 1.4787899255752563, -1.409742832183838, 1.1533913612365723, 1.6271839141845703, -0.0048759146593511105, 0.0048759146593511105], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -0.45643550157546997, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7099641561508179, -0.02852753736078739, 0.02852753736078739, 0.7188906669616699, -1.7744334936141968, 1.4787899255752563, -1.4101243019104004, 1.1533913612365723, 1.6271839141845703, -0.004199640825390816, 0.004199640825390816], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -0.45643550157546997, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7103456258773804, -0.02852753736078739, 0.02852753736078739, 0.7188906669616699, -1.7748149633407593, 1.481078863143921, -1.4101243019104004, 1.1552987098693848, 1.6271839141845703, -0.004199640825390816, 0.004199640825390816], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -0.45643550157546997, 0.10891126841306686, 1.6363393068313599, 0.41676202416419983, -1.7107270956039429, -0.02852753736078739, 0.02852753736078739, 0.7188906669616699, -1.7759593725204468, 1.486419439315796, -1.4101243019104004, 1.1564431190490723, 1.6271839141845703, -0.003922154661267996, 0.003922154661267996], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -0.45719844102859497, 0.10891126841306686, 1.6363393068313599, 0.41676202416419983, -1.7130159139633179, -0.02852753736078739, 0.02852753736078739, 0.7204165458679199, -1.7767223119735718, 1.4990081787109375, -1.408979892730713, 1.1560616493225098, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -0.45719844102859497, 0.10891126841306686, 1.6363393068313599, 0.41676202416419983, -1.7130159139633179, -0.028602106496691704, 0.028602106496691704, 0.7112611532211304, -1.7759593725204468, 1.5173189640045166, -1.4032578468322754, 1.1591134071350098, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.013160906732082367, -0.45643550157546997, 0.10891126841306686, 1.6363393068313599, 0.41676202416419983, -1.7130159139633179, -0.029569115489721298, 0.029569115489721298, 0.6944762468338013, -1.7736705541610718, 1.5527962446212769, -1.409742832183838, 1.177042841911316, 1.6275653839111328, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.021553369238972664, -0.4541466534137726, 0.10929274559020996, 1.6363393068313599, 0.41676202416419983, -1.7133973836898804, -0.029795944690704346, 0.029795944690704346, 0.6795986890792847, -1.7580300569534302, 1.586366057395935, -1.4101243019104004, 1.1972609758377075, 1.6275653839111328, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03833829239010811, -0.4488059878349304, 0.11234454810619354, 1.6363393068313599, 0.41676202416419983, -1.7175936698913574, -0.030147003009915352, 0.030147003009915352, 0.6639581918716431, -1.7137788534164429, 1.5985733270645142, -1.4093613624572754, 1.1972609758377075, 1.6279468536376953, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0715266615152359, -0.4388876259326935, 0.11959258466959, 1.636720895767212, 0.41676202416419983, -1.733234167098999, -0.030732950195670128, 0.030732950195670128, 0.6509880423545837, -1.6344319581985474, 1.5642404556274414, -1.4105058908462524, 1.1579689979553223, 1.6298543214797974, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12302586436271667, -0.42744335532188416, 0.1333257108926773, 1.6355763673782349, 0.41676202416419983, -1.7484931945800781, -0.03198114037513733, 0.03198114037513733, 0.647936224937439, -1.513122797012329, 1.4654383659362793, -1.4093613624572754, 1.0690852403640747, 1.6302357912063599, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1985580176115036, -0.4194323718547821, 0.15659570693969727, 1.6348134279251099, 0.41676202416419983, -1.7618448734283447, -0.03270185366272926, 0.03270185366272926, 0.6448844075202942, -1.3708323240280151, 1.3139925003051758, -1.409742832183838, 0.926413357257843, 1.6302357912063599, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2931639552116394, -0.4198138415813446, 0.18863965570926666, 1.6351948976516724, 0.41676202416419983, -1.7710002660751343, -0.034, 0.034, 0.649462103843689, -1.2151904106140137, 1.126688003540039, -1.409742832183838, 0.732623815536499, 1.6298543214797974, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39578089118003845, -0.4362172782421112, 0.22602425515651703, 1.636720895767212, 0.4171435236930847, -1.7782483100891113, -0.034, 0.034, 0.6601434350013733, -1.0633630752563477, 0.9294651746749878, -1.408979892730713, 0.5018310546875, 1.6294728517532349, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4987792670726776, -0.4724574685096741, 0.26951247453689575, 1.6371023654937744, 0.4171435236930847, -1.7816815376281738, -0.034, 0.034, 0.6651026010513306, -0.9447242021560669, 0.7646677494049072, -1.4093613624572754, 0.28667888045310974, 1.6287097930908203, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5971999764442444, -0.5296788215637207, 0.31834134459495544, 1.6371023654937744, 0.4175249934196472, -1.7816815376281738, -0.034, 0.034, 0.6723506450653076, -0.8710994124412537, 0.650225043296814, -1.408979892730713, 0.12569619715213776, 1.6268024444580078, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6799801588058472, -0.6033035516738892, 0.369840532541275, 1.6371023654937744, 0.4175249934196472, -1.7786297798156738, -0.034, 0.034, 0.6765468716621399, -0.8333333134651184, 0.576218843460083, -1.408979892730713, 0.013542382046580315, 1.6268024444580078, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7352941036224365, -0.6818875670433044, 0.4190509021282196, 1.6371023654937744, 0.4171435236930847, -1.7706187963485718, -0.034, 0.034, 0.689517080783844, -0.813115119934082, 0.5281528830528259, -1.408979892730713, -0.07305257022380829, 1.6268024444580078, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7719157934188843, -0.7555122971534729, 0.4663538634777069, 1.6371023654937744, 0.4171435236930847, -1.7660410404205322, -0.034, 0.034, 0.6940947771072388, -0.8024337887763977, 0.4999237060546875, -1.4093613624572754, -0.1325627565383911, 1.6268024444580078, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7986190319061279, -0.8215075731277466, 0.5136567950248718, 1.6371023654937744, 0.4171435236930847, -1.7618448734283447, -0.034, 0.034, 0.7017242908477783, -0.7970931529998779, 0.483138769865036, -1.429961085319519, -0.16308079659938812, 1.6268024444580078, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8165484070777893, -0.8794918656349182, 0.5567635893821716, 1.6371023654937744, 0.4171435236930847, -1.7584115266799927, -0.034, 0.034, 0.7131685614585876, -0.7944228053092957, 0.47436484694480896, -1.4490348100662231, -0.18596932291984558, 1.6268024444580078, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8299000263214111, -0.924887478351593, 0.5945296287536621, 1.6371023654937744, 0.4171435236930847, -1.7580300569534302, -0.034, 0.034, 0.7227054238319397, -0.7940413355827332, 0.4690241813659668, -1.4608606100082397, -0.1985580176115036, 1.6268024444580078, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.839436948299408, -0.9596017599105835, 0.6261920928955078, 1.6371023654937744, 0.4171435236930847, -1.7576485872268677, -0.034, 0.034, 0.7291905283927917, -0.7932783961296082, 0.4667353332042694, -1.4688715934753418, -0.20580606162548065, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8428702354431152, -0.9855420589447021, 0.6532768607139587, 1.6371023654937744, 0.4171435236930847, -1.7576485872268677, -0.034, 0.034, 0.7375829815864563, -0.7936598658561707, 0.4655908942222595, -1.4787899255752563, -0.20733195543289185, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8443961143493652, -1.0046159029006958, 0.6761654019355774, 1.636720895767212, 0.4171435236930847, -1.7591744661331177, -0.034, 0.034, 0.7482643127441406, -0.7932783961296082, 0.4648279547691345, -1.485656499862671, -0.21038375794887543, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -1.0202564001083374, 0.6921873688697815, 1.6359578371047974, 0.4171435236930847, -1.7706187963485718, -0.03307371586561203, 0.03307371586561203, 0.7555122971534729, -0.7932783961296082, 0.4648279547691345, -1.4894713163375854, -0.21229113638401031, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -1.0297932624816895, 0.7013428211212158, 1.6363393068313599, 0.4171435236930847, -1.7809185981750488, -0.02706073597073555, 0.02706073597073555, 0.7612344622612, -0.7932783961296082, 0.464446485042572, -1.494430422782898, -0.2138170450925827, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.846684992313385, -1.0343708992004395, 0.7055390477180481, 1.6363393068313599, 0.4171435236930847, -1.796940565109253, -0.019065456464886665, 0.019065456464886665, 0.7642862796783447, -0.7936598658561707, 0.464446485042572, -1.4982452392578125, -0.2138170450925827, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -1.0351338386535645, 0.7074463963508606, 1.6363393068313599, 0.4171435236930847, -1.810673713684082, -0.01026254054158926, 0.01026254054158926, 0.7665750980377197, -0.7944228053092957, 0.464446485042572, -1.5012969970703125, -0.2138170450925827, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, -1.0351338386535645, 0.7074463963508606, 1.636720895767212, 0.4171435236930847, -1.823262333869934, -0.008039570413529873, 0.008039570413529873, 0.7665750980377197, -0.7948042750358582, 0.464446485042572, -1.504348874092102, -0.2138170450925827, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -1.0343708992004395, 0.7074463963508606, 1.636720895767212, 0.4171435236930847, -1.8266956806182861, -0.00567223783582449, 0.00567223783582449, 0.7669565677642822, -0.7963302135467529, 0.464446485042572, -1.504348874092102, -0.2138170450925827, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, -1.0328450202941895, 0.7063019871711731, 1.6393911838531494, 0.4175249934196472, -1.8320363759994507, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.7970931529998779, 0.4640650153160095, -1.5047303438186646, -0.2134355753660202, 1.6271839141845703, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8585107326507568, -1.032463550567627, 0.7055390477180481, 1.637483835220337, 0.4171435236930847, -1.8339437246322632, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.7986190319061279, 0.464446485042572, -1.5047303438186646, -0.2138170450925827, 1.6275653839111328, -0.0031404616311192513, 0.0031404616311192513], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8585107326507568, -1.031700611114502, 0.7055390477180481, 1.6371023654937744, 0.4171435236930847, -1.8335622549057007, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8012893795967102, 0.465209424495697, -1.5047303438186646, -0.2138170450925827, 1.6275653839111328, -0.005311072804033756, 0.005311072804033756], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -1.031700611114502, 0.7043945789337158, 1.6371023654937744, 0.4171435236930847, -1.8335622549057007, -0.003171013668179512, 0.003171013668179512, 0.7673380374908447, -0.8077744841575623, 0.4671168029308319, -1.5047303438186646, -0.2141985148191452, 1.6275653839111328, -0.01051426399499178, 0.01051426399499178], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8527885675430298, -1.0282673835754395, 0.7009612917900085, 1.637483835220337, 0.4171435236930847, -1.8335622549057007, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8134965896606445, 0.4697871506214142, -1.505111813545227, -0.2141985148191452, 1.6275653839111328, -0.013934844173491001, 0.013934844173491001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8344777822494507, -1.0130083560943604, 0.6841763854026794, 1.636720895767212, 0.41676202416419983, -1.820210576057434, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8165484070777893, 0.4713130295276642, -1.5054932832717896, -0.2141985148191452, 1.6275653839111328, -0.014963706955313683, 0.014963706955313683], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7940413355827332, -0.9657053351402283, 0.6403067111968994, 1.6371023654937744, 0.4171435236930847, -1.7828259468078613, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8184558153152466, 0.4713130295276642, -1.506637692451477, -0.2138170450925827, 1.6275653839111328, -0.015112586319446564, 0.015112586319446564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7181277275085449, -0.8772030472755432, 0.5670633912086487, 1.6363393068313599, 0.4171435236930847, -1.7488746643066406, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8192187547683716, 0.4713130295276642, -1.507400631904602, -0.2138170450925827, 1.6275653839111328, -0.015112586319446564, 0.015112586319446564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6067368388175964, -0.7555122971534729, 0.4720759987831116, 1.6348134279251099, 0.4171435236930847, -1.71644926071167, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8196002244949341, 0.4713130295276642, -1.5070191621780396, -0.2138170450925827, 1.6275653839111328, -0.015112586319446564, 0.015112586319446564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46215763688087463, -0.6239032745361328, 0.3732738196849823, 1.6340504884719849, 0.4175249934196472, -1.6966124773025513, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8196002244949341, 0.4720759987831116, -1.507400631904602, -0.2138170450925827, 1.6275653839111328, -0.015112586319446564, 0.015112586319446564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.31605249643325806, -0.5163271427154541, 0.28782328963279724, 1.6336690187454224, 0.4171435236930847, -1.6939421892166138, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8199816942214966, 0.4728389382362366, -1.5070191621780396, -0.2138170450925827, 1.6275653839111328, -0.015103267505764961, 0.015103267505764961], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20313572883605957, -0.4549095928668976, 0.22640573978424072, 1.6351948976516724, 0.4175249934196472, -1.6989012956619263, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8211261034011841, 0.4728389382362366, -1.5070191621780396, -0.2138170450925827, 1.6275653839111328, -0.015103267505764961, 0.015103267505764961], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12378881871700287, -0.44728007912635803, 0.18825818598270416, 1.6348134279251099, 0.4171435236930847, -1.7095826864242554, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8222705721855164, 0.4728389382362366, -1.5070191621780396, -0.2138170450925827, 1.6275653839111328, -0.015103267505764961, 0.015103267505764961], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0715266615152359, -0.4697871506214142, 0.1676585078239441, 1.637483835220337, 0.41638055443763733, -1.7099641561508179, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8234149813652039, 0.4728389382362366, -1.5070191621780396, -0.2138170450925827, 1.6279468536376953, -0.015103267505764961, 0.015103267505764961], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03376058489084244, -0.49382010102272034, 0.15621423721313477, 1.6371023654937744, 0.41638055443763733, -1.7133973836898804, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8241779208183289, 0.4728389382362366, -1.506637692451477, -0.2134355753660202, 1.6275653839111328, -0.015093951486051083, 0.015093951486051083], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.005531395319849253, -0.5167086124420166, 0.1504921019077301, 1.6371023654937744, 0.41676202416419983, -1.7137788534164429, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8249408602714539, 0.4720759987831116, -1.506637692451477, -0.2138170450925827, 1.6275653839111328, -0.015093951486051083, 0.015093951486051083], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.014686808921396732, -0.5395971536636353, 0.14782176911830902, 1.636720895767212, 0.41676202416419983, -1.7160677909851074, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8257037997245789, 0.4720759987831116, -1.5062562227249146, -0.2138170450925827, 1.6275653839111328, -0.015084635466337204, 0.015084635466337204], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.026131074875593185, -0.5624856948852539, 0.14782176911830902, 1.636720895767212, 0.4171435236930847, -1.71644926071167, -0.0031659151427447796, 0.0031659151427447796, 0.7673380374908447, -0.8272297382354736, 0.4720759987831116, -1.5062562227249146, -0.2138170450925827, 1.6275653839111328, -0.015000885352492332, 0.015000885352492332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03185320645570755, -0.5823224186897278, 0.14782176911830902, 1.636720895767212, 0.4171435236930847, -1.71644926071167, -0.0036943326704204082, 0.0036943326704204082, 0.7673380374908447, -0.8276112079620361, 0.4720759987831116, -1.5062562227249146, -0.2134355753660202, 1.6275653839111328, -0.015000885352492332, 0.015000885352492332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03528648987412453, -0.6025406122207642, 0.14744029939174652, 1.6359578371047974, 0.4171435236930847, -1.7160677909851074, -0.008912092074751854, 0.008912092074751854, 0.7673380374908447, -0.8283741474151611, 0.4720759987831116, -1.5062562227249146, -0.2134355753660202, 1.6275653839111328, -0.015000885352492332, 0.015000885352492332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03757534176111221, -0.6227588057518005, 0.14553292095661163, 1.6359578371047974, 0.4175249934196472, -1.7160677909851074, -0.014290387742221355, 0.014290387742221355, 0.7673380374908447, -0.8283741474151611, 0.4720759987831116, -1.5062562227249146, -0.2134355753660202, 1.6275653839111328, -0.015000885352492332, 0.015000885352492332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.038719769567251205, -0.6376363635063171, 0.14553292095661163, 1.6359578371047974, 0.4175249934196472, -1.7160677909851074, -0.018299773335456848, 0.018299773335456848, 0.7673380374908447, -0.8283741474151611, 0.4720759987831116, -1.5062562227249146, -0.2134355753660202, 1.6275653839111328, -0.015000885352492332, 0.015000885352492332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.038719769567251205, -0.6395437717437744, 0.14553292095661163, 1.6359578371047974, 0.4175249934196472, -1.7160677909851074, -0.020769039168953896, 0.020769039168953896, 0.7673380374908447, -0.8283741474151611, 0.4720759987831116, -1.5062562227249146, -0.2134355753660202, 1.6275653839111328, -0.015000885352492332, 0.015000885352492332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.027656977996230125, -0.6155108213424683, 0.14820325374603271, 1.6340504884719849, 0.4175249934196472, -1.71644926071167, -0.023338139057159424, 0.023338139057159424, 0.7673380374908447, -0.8283741474151611, 0.4720759987831116, -1.5062562227249146, -0.2134355753660202, 1.6275653839111328, -0.015000885352492332, 0.015000885352492332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.004386968910694122, -0.5766003131866455, 0.16117341816425323, 1.6348134279251099, 0.41485464572906494, -1.71644926071167, -0.02583242580294609, 0.02583242580294609, 0.7673380374908447, -0.8283741474151611, 0.4724574685096741, -1.5062562227249146, -0.2134355753660202, 1.6275653839111328, -0.015010183677077293, 0.015010183677077293], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05359731614589691, -0.5407415628433228, 0.1997024416923523, 1.6340504884719849, 0.3572518527507782, -1.72255277633667, -0.027680683881044388, 0.027680683881044388, 0.7673380374908447, -0.8283741474151611, 0.4728389382362366, -1.5062562227249146, -0.2134355753660202, 1.6275653839111328, -0.015010183677077293, 0.015010183677077293], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13103684782981873, -0.5224307775497437, 0.27180132269859314, 1.6359578371047974, 0.23861294984817505, -1.737048864364624, -0.029850177466869354, 0.029850177466869354, 0.7673380374908447, -0.8283741474151611, 0.4732204079627991, -1.505874752998352, -0.2134355753660202, 1.6275653839111328, -0.015028785914182663, 0.015028785914182663], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22526131570339203, -0.535400927066803, 0.3576333224773407, 1.6359578371047974, 0.1039520874619484, -1.7565041780471802, -0.03175302967429161, 0.03175302967429161, 0.7673380374908447, -0.8283741474151611, 0.4732204079627991, -1.5054932832717896, -0.2134355753660202, 1.6275653839111328, -0.015580691397190094, 0.015580691397190094], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5796520709991455, 0.4522392749786377, 1.6359578371047974, -0.02727550081908703, -1.80113685131073, -0.031744543462991714, 0.031744543462991714, 0.7623788714408875, -0.8283741474151611, 0.4736018776893616, -1.5054932832717896, -0.212672621011734, 1.6275653839111328, -0.016347667202353477, 0.016347667202353477], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4175249934196472, -0.655947208404541, 0.5510414242744446, 1.6355763673782349, -0.15850308537483215, -1.8640803098678589, -0.0315571129322052, 0.0315571129322052, 0.7440680265426636, -0.8283741474151611, 0.47512778639793396, -1.4902342557907104, -0.20618753135204315, 1.6275653839111328, -0.017288414761424065, 0.017288414761424065], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49191272258758545, -0.7551308274269104, 0.6429770588874817, 1.6351948976516724, -0.26722362637519836, -1.9251163005828857, -0.0315571129322052, 0.0315571129322052, 0.7200350761413574, -0.8283741474151611, 0.47703516483306885, -1.4669642448425293, -0.1974135935306549, 1.6283283233642578, -0.017346421256661415, 0.017346421256661415], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5487525463104248, -0.8699550032615662, 0.7280460596084595, 1.6348134279251099, -0.3595407009124756, -1.9781414270401, -0.0315571129322052, 0.0315571129322052, 0.6994354128837585, -0.8283741474151611, 0.47665369510650635, -1.4513237476348877, -0.18711376190185547, 1.6302357912063599, -0.017346421256661415, 0.017346421256661415], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5930037498474121, -0.9863049983978271, 0.8119707107543945, 1.6355763673782349, -0.44651713967323303, -2.0174334049224854, -0.0315571129322052, 0.0315571129322052, 0.6872282028198242, -0.8283741474151611, 0.47627222537994385, -1.4398794174194336, -0.1825360506772995, 1.6302357912063599, -0.017346421256661415, 0.017346421256661415], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6261920928955078, -1.0908293724060059, 0.890554666519165, 1.6351948976516724, -0.5106050372123718, -2.05672550201416, -0.03152289241552353, 0.03152289241552353, 0.6815060377120972, -0.8283741474151611, 0.47627222537994385, -1.4353017807006836, -0.17948424816131592, 1.6298543214797974, -0.017346421256661415, 0.017346421256661415], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6460288166999817, -1.1789501905441284, 0.9538795948028564, 1.6351948976516724, -0.569733738899231, -2.0902953147888184, -0.03029000759124756, 0.03029000759124756, 0.6784542798995972, -0.8283741474151611, 0.47627222537994385, -1.4318684339523315, -0.17605096101760864, 1.6294728517532349, -0.017365766689181328, 0.017365766689181328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.655947208404541, -1.2518119812011719, 1.0072861909866333, 1.6359578371047974, -0.6113145351409912, -2.1215763092041016, -0.029010046273469925, 0.029010046273469925, 0.6773098111152649, -0.8283741474151611, 0.47627222537994385, -1.4311054944992065, -0.17528800666332245, 1.6283283233642578, -0.01783149503171444, 0.01783149503171444], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6616693139076233, -1.3101778030395508, 1.0400930643081665, 1.6351948976516724, -0.6635767221450806, -2.144083261489868, -0.029010046273469925, 0.029010046273469925, 0.6750209927558899, -0.8283741474151611, 0.47627222537994385, -1.4280537366867065, -0.17299915850162506, 1.6268024444580078, -0.01783149503171444, 0.01783149503171444], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6654840707778931, -1.3506141901016235, 1.0587854385375977, 1.6344319581985474, -0.6887540817260742, -2.164301633834839, -0.02898235060274601, 0.02898235060274601, 0.6750209927558899, -0.8283741474151611, 0.47665369510650635, -1.4280537366867065, -0.17185473442077637, 1.6268024444580078, -0.01783149503171444, 0.01783149503171444], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6670100092887878, -1.3792248964309692, 1.0706111192703247, 1.6348134279251099, -0.7009612917900085, -2.1822309494018555, -0.027500146999955177, 0.027500146999955177, 0.6750209927558899, -0.8283741474151611, 0.47817960381507874, -1.4280537366867065, -0.17147326469421387, 1.6268024444580078, -0.017841225489974022, 0.017841225489974022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6673914790153503, -1.406691074371338, 1.0793850421905518, 1.6344319581985474, -0.7135500311851501, -2.1974899768829346, -0.026095246896147728, 0.026095246896147728, 0.6750209927558899, -0.8283741474151611, 0.47932401299476624, -1.4280537366867065, -0.17147326469421387, 1.6268024444580078, -0.017841225489974022, 0.017841225489974022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6677729487419128, -1.429961085319519, 1.0889219045639038, 1.6344319581985474, -0.7162203192710876, -2.2089340686798096, -0.026017459109425545, 0.026017459109425545, 0.6750209927558899, -0.8283741474151611, 0.4804684519767761, -1.4280537366867065, -0.17147326469421387, 1.6268024444580078, -0.01830955408513546, 0.01830955408513546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6677729487419128, -1.4528496265411377, 1.098840355873108, 1.6344319581985474, -0.7192721366882324, -2.216182231903076, -0.025539465248584747, 0.025539465248584747, 0.6750209927558899, -0.8283741474151611, 0.4812313914299011, -1.4280537366867065, -0.16994735598564148, 1.6268024444580078, -0.018387839198112488, 0.018387839198112488], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6677729487419128, -1.4749752283096313, 1.10837721824646, 1.6344319581985474, -0.7227054238319397, -2.2196154594421387, -0.025000043213367462, 0.025000043213367462, 0.6750209927558899, -0.8283741474151611, 0.4819943606853485, -1.4280537366867065, -0.16956588625907898, 1.6271839141845703, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6673914790153503, -1.495193362236023, 1.115625262260437, 1.6340504884719849, -0.7227054238319397, -2.2234301567077637, -0.0237750094383955, 0.0237750094383955, 0.6750209927558899, -0.8283741474151611, 0.4827573001384735, -1.4280537366867065, -0.16918440163135529, 1.6271839141845703, -0.018387839198112488, 0.018387839198112488], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6673914790153503, -1.511215329170227, 1.1198214292526245, 1.6344319581985474, -0.7227054238319397, -2.2268636226654053, -0.021515728905797005, 0.021515728905797005, 0.6750209927558899, -0.8283741474151611, 0.483138769865036, -1.4280537366867065, -0.16918440163135529, 1.6271839141845703, -0.018387839198112488, 0.018387839198112488], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6666285395622253, -1.5257114171981812, 1.122110366821289, 1.6344319581985474, -0.7223239541053772, -2.2272450923919678, -0.02146591618657112, 0.02146591618657112, 0.6750209927558899, -0.8283741474151611, 0.483138769865036, -1.4280537366867065, -0.16880293190479279, 1.6271839141845703, -0.018387839198112488, 0.018387839198112488], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6654840707778931, -1.5398260354995728, 1.1247806549072266, 1.6344319581985474, -0.7227054238319397, -2.2287709712982178, -0.021236823871731758, 0.021236823871731758, 0.6750209927558899, -0.8283741474151611, 0.483138769865036, -1.4280537366867065, -0.16880293190479279, 1.6271839141845703, -0.018387839198112488, 0.018387839198112488], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.5527962446212769, 1.128213882446289, 1.6344319581985474, -0.7227054238319397, -2.2302968502044678, -0.019895361736416817, 0.019895361736416817, 0.6750209927558899, -0.8283741474151611, 0.4835202693939209, -1.4280537366867065, -0.1684214472770691, 1.6271839141845703, -0.018387839198112488, 0.018387839198112488], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6639581918716431, -1.5627145767211914, 1.1327916383743286, 1.6355763673782349, -0.7227054238319397, -2.2302968502044678, -0.017666244879364967, 0.017666244879364967, 0.6750209927558899, -0.8283741474151611, 0.4835202693939209, -1.4280537366867065, -0.1684214472770691, 1.6275653839111328, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6628137826919556, -1.568818211555481, 1.1362248659133911, 1.6378653049468994, -0.727664589881897, -2.2310597896575928, -0.013268697075545788, 0.013268697075545788, 0.6750209927558899, -0.8283741474151611, 0.4835202693939209, -1.4280537366867065, -0.1684214472770691, 1.6275653839111328, -0.018387839198112488, 0.018387839198112488], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6628137826919556, -1.572632908821106, 1.1377508640289307, 1.6378653049468994, -0.728427529335022, -2.2341115474700928, -0.012015124782919884, 0.012015124782919884, 0.6750209927558899, -0.8283741474151611, 0.4835202693939209, -1.4280537366867065, -0.1684214472770691, 1.6275653839111328, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6628137826919556, -1.574540376663208, 1.1381323337554932, 1.638246774673462, -0.727664589881897, -2.2344930171966553, -0.010432790964841843, 0.010432790964841843, 0.6750209927558899, -0.8283741474151611, 0.4835202693939209, -1.427672266960144, -0.1684214472770691, 1.6275653839111328, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6628137826919556, -1.575303316116333, 1.1381323337554932, 1.6378653049468994, -0.7265201807022095, -2.2348744869232178, -0.008745135739445686, 0.008745135739445686, 0.6750209927558899, -0.8283741474151611, 0.4835202693939209, -1.4280537366867065, -0.1684214472770691, 1.6279468536376953, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6624323129653931, -1.5764477252960205, 1.1381323337554932, 1.638246774673462, -0.7257572412490845, -2.2352559566497803, -0.006549805402755737, 0.006549805402755737, 0.6750209927558899, -0.8283741474151611, 0.4835202693939209, -1.4280537366867065, -0.1684214472770691, 1.6275653839111328, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6624323129653931, -1.5772106647491455, 1.1381323337554932, 1.638246774673462, -0.7242313027381897, -2.2356374263763428, -0.005188734270632267, 0.005188734270632267, 0.6750209927558899, -0.8283741474151611, 0.483138769865036, -1.4280537366867065, -0.1684214472770691, 1.6275653839111328, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.5772106647491455, 1.1385138034820557, 1.638246774673462, -0.7227054238319397, -2.2379262447357178, -0.005188734270632267, 0.005188734270632267, 0.6750209927558899, -0.8283741474151611, 0.4835202693939209, -1.4280537366867065, -0.1684214472770691, 1.6279468536376953, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6662470698356628, -1.577592134475708, 1.1381323337554932, 1.638246774673462, -0.7223239541053772, -2.2379262447357178, -0.005170480813831091, 0.005170480813831091, 0.6750209927558899, -0.8283741474151611, 0.483138769865036, -1.4280537366867065, -0.1684214472770691, 1.6275653839111328, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6673914790153503, -1.577592134475708, 1.1385138034820557, 1.6378653049468994, -0.7215610146522522, -2.2360188961029053, -0.004501282703131437, 0.004501282703131437, 0.6750209927558899, -0.8283741474151611, 0.483138769865036, -1.427672266960144, -0.1684214472770691, 1.6279468536376953, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6692988276481628, -1.5772106647491455, 1.1381323337554932, 1.6371023654937744, -0.7150759100914001, -2.2337300777435303, -0.004495519213378429, 0.004495519213378429, 0.6750209927558899, -0.8283741474151611, 0.483138769865036, -1.4280537366867065, -0.1680399775505066, 1.6279468536376953, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6738765835762024, -1.5749218463897705, 1.1377508640289307, 1.6256580352783203, -0.6963835954666138, -2.2299153804779053, -0.004489758517593145, 0.004489758517593145, 0.6750209927558899, -0.8283741474151611, 0.4835202693939209, -1.4280537366867065, -0.1680399775505066, 1.6279468536376953, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.562333106994629, 1.1377508640289307, 1.6222248077392578, -0.7059205174446106, -2.222285747528076, -0.0044151246547698975, 0.0044151246547698975, 0.6750209927558899, -0.8283741474151611, 0.4835202693939209, -1.427672266960144, -0.1680399775505066, 1.6302357912063599, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.5394445657730103, 1.1377508640289307, 1.6302357912063599, -0.7112611532211304, -2.213893413543701, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.4835202693939209, -1.427672266960144, -0.1680399775505066, 1.6302357912063599, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6815060377120972, -1.5035858154296875, 1.1358433961868286, 1.6306172609329224, -0.7135500311851501, -2.199397325515747, -0.00438654376193881, 0.00438654376193881, 0.6750209927558899, -0.8283741474151611, 0.483138769865036, -1.427672266960144, -0.1680399775505066, 1.6298543214797974, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.4559013843536377, 1.1297398805618286, 1.6336690187454224, -0.7154573798179626, -2.1868085861206055, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.4827573001384735, -1.427672266960144, -0.1680399775505066, 1.6298543214797974, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6708247661590576, -1.3967727422714233, 1.114862322807312, 1.6378653049468994, -0.7154573798179626, -2.1669719219207764, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.482375830411911, -1.427672266960144, -0.1680399775505066, 1.6294728517532349, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6601434350013733, -1.3181887865066528, 1.0774776935577393, 1.6363393068313599, -0.6864652633666992, -2.141031503677368, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.481612890958786, -1.427672266960144, -0.1680399775505066, 1.6268024444580078, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6376363635063171, -1.2109941244125366, 1.0023269653320312, 1.6371023654937744, -0.6029220819473267, -2.0994505882263184, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.4808499217033386, -1.427672266960144, -0.1680399775505066, 1.6268024444580078, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6010147333145142, -1.0820554494857788, 0.8955138325691223, 1.637483835220337, -0.4682612419128418, -2.059014320373535, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.4800869822502136, -1.4280537366867065, -0.1680399775505066, 1.6268024444580078, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5510414242744446, -0.9378576278686523, 0.7753490209579468, 1.6378653049468994, -0.31948578357696533, -1.9998855590820312, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.47932401299476624, -1.427672266960144, -0.1684214472770691, 1.6268024444580078, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4983977973461151, -0.7867932915687561, 0.647173285484314, 1.637483835220337, -0.16155488789081573, -1.898413062095642, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.47932401299476624, -1.427672266960144, -0.1680399775505066, 1.6268024444580078, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4369802474975586, -0.6425955891609192, 0.5289158225059509, 1.6378653049468994, -0.015449759550392628, -1.804951548576355, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.47856107354164124, -1.427672266960144, -0.1680399775505066, 1.6268024444580078, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3583962619304657, -0.5239566564559937, 0.42896926403045654, 1.637483835220337, 0.0875486359000206, -1.7507820129394531, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.47779813408851624, -1.427672266960144, -0.1684214472770691, 1.6271839141845703, -0.01837805099785328, 0.01837805099785328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.273708701133728, -0.4377431869506836, 0.33207446336746216, 1.6378653049468994, 0.18978407979011536, -1.7175936698913574, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.47703516483306885, -1.427672266960144, -0.1684214472770691, 1.6271839141845703, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1966506391763687, -0.3923476040363312, 0.2458609938621521, 1.637483835220337, 0.3068970739841461, -1.7000458240509033, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.47703516483306885, -1.427672266960144, -0.1684214472770691, 1.6271839141845703, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13790340721607208, -0.3755626678466797, 0.1832990050315857, 1.637483835220337, 0.3877699077129364, -1.6908903121948242, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.47627222537994385, -1.427672266960144, -0.1684214472770691, 1.6271839141845703, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0871671661734581, -0.38052186369895935, 0.14057374000549316, 1.6378653049468994, 0.4346913993358612, -1.6859312057495117, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8283741474151611, 0.47627222537994385, -1.427672266960144, -0.1684214472770691, 1.6271839141845703, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03833829239010811, -0.4083695709705353, 0.11310750246047974, 1.637483835220337, 0.4736018776893616, -1.6725795269012451, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8291370868682861, 0.47627222537994385, -1.427672266960144, -0.1684214472770691, 1.6271839141845703, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.00858320016413927, -0.4541466534137726, 0.09365224838256836, 1.6371023654937744, 0.5395971536636353, -1.6519798040390015, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8302815556526184, 0.47627222537994385, -1.427672266960144, -0.16880293190479279, 1.6271839141845703, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.00019073777366429567, -0.50030517578125, 0.08335240930318832, 1.637483835220337, 0.6094071865081787, -1.6317616701126099, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8318074345588684, 0.47703516483306885, -1.4280537366867065, -0.16880293190479279, 1.6275653839111328, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.00476844422519207, -0.54112309217453, 0.07839322835206985, 1.6371023654937744, 0.6532768607139587, -1.6187914609909058, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8329518437385559, 0.47703516483306885, -1.4280537366867065, -0.16880293190479279, 1.6275653839111328, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.010490577667951584, -0.5796520709991455, 0.07457847148180008, 1.6371023654937744, 0.6769283413887024, -1.6119248867034912, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8333333134651184, 0.47703516483306885, -1.4280537366867065, -0.16880293190479279, 1.6275653839111328, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.008964675478637218, -0.6113145351409912, 0.071908138692379, 1.6371023654937744, 0.6914244294166565, -1.6100175380706787, -0.004380836151540279, 0.004380836151540279, 0.6750209927558899, -0.8333333134651184, 0.47703516483306885, -1.4280537366867065, -0.16880293190479279, 1.6275653839111328, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0036240178160369396, -0.6349660754203796, 0.07038223743438721, 1.636720895767212, 0.6971465349197388, -1.6073472499847412, -0.0054469481110572815, 0.0054469481110572815, 0.6750209927558899, -0.8333333134651184, 0.47703516483306885, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.007438773289322853, -0.6528953909873962, 0.06961929053068161, 1.6371023654937744, 0.7040131092071533, -1.6042953729629517, -0.012737131677567959, 0.012737131677567959, 0.6750209927558899, -0.8333333134651184, 0.47703516483306885, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.024223696440458298, -0.6658655405044556, 0.06961929053068161, 1.6359578371047974, 0.7070649266242981, -1.6119248867034912, -0.018927637487649918, 0.018927637487649918, 0.6750209927558899, -0.8333333134651184, 0.47703516483306885, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03147173300385475, -0.6651026010513306, 0.06885633617639542, 1.6340504884719849, 0.7078278660774231, -1.6306172609329224, -0.022312918677926064, 0.022312918677926064, 0.6750209927558899, -0.8337147831916809, 0.47741663455963135, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01201647985726595, -0.6345845460891724, 0.07343403995037079, 1.6336690187454224, 0.7082093358039856, -1.6626611948013306, -0.023198962211608887, 0.023198962211608887, 0.6750209927558899, -0.8337147831916809, 0.47741663455963135, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04940108209848404, -0.5827038884162903, 0.09899290651082993, 1.6344319581985474, 0.6879911422729492, -1.6855497360229492, -0.023198962211608887, 0.023198962211608887, 0.6750209927558899, -0.8337147831916809, 0.47741663455963135, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12912946939468384, -0.5437933802604675, 0.14858472347259521, 1.6348134279251099, 0.5842298269271851, -1.71797513961792, -0.023198962211608887, 0.023198962211608887, 0.6750209927558899, -0.8337147831916809, 0.47741663455963135, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22640573978424072, -0.5270084738731384, 0.2149614691734314, 1.6348134279251099, 0.44270238280296326, -1.7629892826080322, -0.024200990796089172, 0.024200990796089172, 0.6750209927558899, -0.8337147831916809, 0.47741663455963135, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018368259072303772, 0.018368259072303772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3217746317386627, -0.541886031627655, 0.2965972423553467, 1.6371023654937744, 0.26913100481033325, -1.8312733173370361, -0.024270232766866684, 0.024270232766866684, 0.6750209927558899, -0.8337147831916809, 0.47741663455963135, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018358472734689713, 0.018358472734689713], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4037918746471405, -0.5910963416099548, 0.3915846347808838, 1.636720895767212, 0.06466010212898254, -1.9193942546844482, -0.024270232766866684, 0.024270232766866684, 0.6750209927558899, -0.8337147831916809, 0.47741663455963135, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018358472734689713, 0.018358472734689713], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4659723937511444, -0.657473087310791, 0.4804684519767761, 1.6348134279251099, -0.11158160120248795, -2.0010299682617188, -0.024270232766866684, 0.024270232766866684, 0.6750209927558899, -0.8337147831916809, 0.47741663455963135, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018338901922106743, 0.018338901922106743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.507553219795227, -0.7387273907661438, 0.5621042251586914, 1.6340504884719849, -0.2813382148742676, -2.0792324542999268, -0.02428012154996395, 0.02428012154996395, 0.6750209927558899, -0.8337147831916809, 0.47741663455963135, -1.4280537366867065, -0.16880293190479279, 1.6279468536376953, -0.018280213698744774, 0.018280213698744774], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.8222705721855164, 0.6280995011329651, 1.6340504884719849, -0.42515450716018677, -2.144846200942993, -0.024753957986831665, 0.024753957986831665, 0.6750209927558899, -0.8337147831916809, 0.47741663455963135, -1.4280537366867065, -0.1684214472770691, 1.6279468536376953, -0.018280213698744774, 0.018280213698744774], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5514228940010071, -0.8951323628425598, 0.6776912808418274, 1.6344319581985474, -0.5231937170028687, -2.197108507156372, -0.024753957986831665, 0.024753957986831665, 0.6750209927558899, -0.8337147831916809, 0.47741663455963135, -1.4280537366867065, -0.1684214472770691, 1.6279468536376953, -0.01827043667435646, 0.01827043667435646], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5624856948852539, -0.9573128819465637, 0.7135500311851501, 1.6351948976516724, -0.5861371755599976, -2.2352559566497803, -0.024763811379671097, 0.024763811379671097, 0.6750209927558899, -0.8337147831916809, 0.47703516483306885, -1.4280537366867065, -0.1684214472770691, 1.6279468536376953, -0.018182480707764626, 0.018182480707764626], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5678263306617737, -1.0156786441802979, 0.7425421476364136, 1.6351948976516724, -0.6246662139892578, -2.2657740116119385, -0.02477366290986538, 0.02477366290986538, 0.6750209927558899, -0.8337147831916809, 0.47627222537994385, -1.4280537366867065, -0.1676585078239441, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.572022557258606, -1.0728999376296997, 0.7688639760017395, 1.6348134279251099, -0.6532768607139587, -2.289807081222534, -0.025147438049316406, 0.025147438049316406, 0.6750209927558899, -0.8337147831916809, 0.47550925612449646, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.572022557258606, -1.123636245727539, 0.7875562906265259, 1.6348134279251099, -0.6761654019355774, -2.313076972961426, -0.02513761818408966, 0.02513761818408966, 0.6750209927558899, -0.8337147831916809, 0.47550925612449646, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.569733738899231, -1.1671243906021118, 0.8020523190498352, 1.6348134279251099, -0.689517080783844, -2.3317692279815674, -0.02511797472834587, 0.02511797472834587, 0.6750209927558899, -0.8337147831916809, 0.47550925612449646, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5647745728492737, -1.2022202014923096, 0.813878059387207, 1.6348134279251099, -0.6967650651931763, -2.346646785736084, -0.025078680366277695, 0.025078680366277695, 0.6750209927558899, -0.8337147831916809, 0.47550925612449646, -1.4280537366867065, -0.1661325991153717, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5552376508712769, -1.2270160913467407, 0.8207446336746216, 1.6348134279251099, -0.7001983523368835, -2.3561837673187256, -0.023834511637687683, 0.023834511637687683, 0.6750209927558899, -0.8337147831916809, 0.47550925612449646, -1.4280537366867065, -0.1657511293888092, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5430304408073425, -1.2441824674606323, 0.8245593905448914, 1.6348134279251099, -0.7051575779914856, -2.3653390407562256, -0.023328199982643127, 0.023328199982643127, 0.6750209927558899, -0.8337147831916809, 0.47550925612449646, -1.4280537366867065, -0.1657511293888092, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5319676399230957, -1.2586785554885864, 0.8268482685089111, 1.6355763673782349, -0.7047760486602783, -2.370298385620117, -0.023328199982643127, 0.023328199982643127, 0.6750209927558899, -0.8337147831916809, 0.47589075565338135, -1.4280537366867065, -0.1657511293888092, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5209048390388489, -1.274319052696228, 0.8287556171417236, 1.6351948976516724, -0.7063019871711731, -2.372587203979492, -0.022332847118377686, 0.022332847118377686, 0.6750209927558899, -0.8337147831916809, 0.47627222537994385, -1.4280537366867065, -0.1661325991153717, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5132753252983093, -1.2899595499038696, 0.8329518437385559, 1.6355763673782349, -0.7066834568977356, -2.372587203979492, -0.021386221051216125, 0.021386221051216125, 0.6750209927558899, -0.8337147831916809, 0.47627222537994385, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5086976289749146, -1.3033112287521362, 0.8398184180259705, 1.6351948976516724, -0.7066834568977356, -2.3722057342529297, -0.021077515557408333, 0.021077515557408333, 0.6750209927558899, -0.8337147831916809, 0.47627222537994385, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506027340888977, -1.3155183792114258, 0.8493552803993225, 1.6355763673782349, -0.7063019871711731, -2.3706798553466797, -0.019095009192824364, 0.019095009192824364, 0.6750209927558899, -0.8337147831916809, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5045014023780823, -1.3235293626785278, 0.8566033244132996, 1.6351948976516724, -0.7059205174446106, -2.3676280975341797, -0.01656726375222206, 0.01656726375222206, 0.6750209927558899, -0.8340963125228882, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.501068115234375, -1.3277256488800049, 0.8607995510101318, 1.6351948976516724, -0.7051575779914856, -2.3645761013031006, -0.013925766572356224, 0.013925766572356224, 0.6750209927558899, -0.8337147831916809, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.017578894272446632, 0.017578894272446632], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4991607666015625, -1.3311588764190674, 0.8634698987007141, 1.6355763673782349, -0.7055390477180481, -2.361142873764038, -0.013744654133915901, 0.013744654133915901, 0.6750209927558899, -0.8340963125228882, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4983977973461151, -1.332684874534607, 0.8653773069381714, 1.6351948976516724, -0.7055390477180481, -2.3554208278656006, -0.010546925477683544, 0.010546925477683544, 0.6750209927558899, -0.8340963125228882, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4972533881664276, -1.3338292837142944, 0.8665217161178589, 1.6359578371047974, -0.7043945789337158, -2.3477911949157715, -0.007317152805626392, 0.007317152805626392, 0.6750209927558899, -0.8337147831916809, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.499542236328125, -1.3345922231674194, 0.8669031858444214, 1.6371023654937744, -0.7043945789337158, -2.339780330657959, -0.007219288498163223, 0.007219288498163223, 0.6750209927558899, -0.8337147831916809, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5033569931983948, -1.3353551626205444, 0.8672846555709839, 1.637483835220337, -0.7043945789337158, -2.3302433490753174, -0.007198390085250139, 0.007198390085250139, 0.6750209927558899, -0.8340963125228882, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506790280342102, -1.335736632347107, 0.8669031858444214, 1.6378653049468994, -0.7043945789337158, -2.3226139545440674, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8340963125228882, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -1.335736632347107, 0.8669031858444214, 1.638246774673462, -0.7043945789337158, -2.3111696243286133, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8340963125228882, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5170900821685791, -1.3319218158721924, 0.8665217161178589, 1.6355763673782349, -0.7066834568977356, -2.3001067638397217, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8337147831916809, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5239566564559937, -1.3166629076004028, 0.8661402463912964, 1.6329060792922974, -0.7074463963508606, -2.292095899581909, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8340963125228882, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5289158225059509, -1.2869077920913696, 0.8642328381538391, 1.6340504884719849, -0.7074463963508606, -2.2802700996398926, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8340963125228882, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5319676399230957, -1.2403677701950073, 0.8615625500679016, 1.6344319581985474, -0.7074463963508606, -2.268444299697876, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8340963125228882, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5350194573402405, -1.1789501905441284, 0.8558403849601746, 1.6351948976516724, -0.7066834568977356, -2.2566184997558594, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8340963125228882, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.534637987613678, -1.10990309715271, 0.8443961143493652, 1.637483835220337, -0.7070649266242981, -2.247081756591797, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8344777822494507, 0.47627222537994385, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5296788215637207, -1.0385671854019165, 0.8253223299980164, 1.637483835220337, -0.7070649266242981, -2.2390706539154053, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8344777822494507, 0.47627222537994385, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5197604298591614, -0.9683756828308105, 0.8005264401435852, 1.6378653049468994, -0.7070649266242981, -2.2322041988372803, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8344777822494507, 0.47627222537994385, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5094605684280396, -0.9000915288925171, 0.7726787328720093, 1.6378653049468994, -0.7070649266242981, -2.2287709712982178, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8344777822494507, 0.47627222537994385, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.50030517578125, -0.8325703740119934, 0.7475013136863708, 1.6378653049468994, -0.7070649266242981, -2.2211413383483887, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.8348592519760132, 0.47550925612449646, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49229419231414795, -0.7642862796783447, 0.726901650428772, 1.6378653049468994, -0.7070649266242981, -2.2127490043640137, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8348592519760132, 0.47512778639793396, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47856107354164124, -0.6971465349197388, 0.7131685614585876, 1.6378653049468994, -0.7085908055305481, -2.1974899768829346, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.8348592519760132, 0.47398337721824646, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4514763057231903, -0.6296253800392151, 0.7085908055305481, 1.6378653049468994, -0.734912633895874, -2.1799421310424805, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.8352407217025757, 0.4732204079627991, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4087510406970978, -0.5670633912086487, 0.7097352743148804, 1.638246774673462, -0.7722972631454468, -2.1543831825256348, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.8356221914291382, 0.4728389382362366, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3568703830242157, -0.5045014023780823, 0.7104982137680054, 1.6386282444000244, -0.8024337887763977, -2.1223392486572266, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.8360036611557007, 0.4728389382362366, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.30079346895217896, -0.45719844102859497, 0.7150759100914001, 1.6378653049468994, -0.8333333134651184, -2.088387966156006, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.8375295400619507, 0.4728389382362366, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23289081454277039, -0.42515450716018677, 0.7185091972351074, 1.6386282444000244, -0.8619440197944641, -2.0510032176971436, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.8382925391197205, 0.4728389382362366, -1.4280537366867065, -0.1668955534696579, 1.6275653839111328, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17566949129104614, -0.4076066315174103, 0.7185091972351074, 1.638246774673462, -0.8813992738723755, -2.0151445865631104, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.840199887752533, 0.4728389382362366, -1.4280537366867065, -0.1668955534696579, 1.6275653839111328, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13065537810325623, -0.4011215269565582, 0.7146944403648376, 1.6378653049468994, -0.8932250142097473, -1.9930189847946167, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.841725766658783, 0.4728389382362366, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09327077120542526, -0.4022659659385681, 0.7066834568977356, 1.638246774673462, -0.8966583013534546, -1.97661554813385, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.8432517051696777, 0.4728389382362366, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07038223743438721, -0.4091325104236603, 0.6960021257400513, 1.6378653049468994, -0.889028787612915, -1.9586862325668335, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.8443961143493652, 0.4732204079627991, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05893797054886818, -0.41523614525794983, 0.6807430982589722, 1.6378653049468994, -0.8653773069381714, -1.9487677812576294, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.84592205286026, 0.47398337721824646, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05245288833975792, -0.4236285984516144, 0.6624323129653931, 1.6378653049468994, -0.8272297382354736, -1.943045735359192, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.8470664620399475, 0.47398337721824646, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04901960864663124, -0.4350728690624237, 0.6448844075202942, 1.6378653049468994, -0.7864118218421936, -1.9380865097045898, -0.007045912090688944, 0.007045912090688944, 0.6750209927558899, -0.84744793176651, 0.47398337721824646, -1.4280537366867065, -0.1672770231962204, 1.6275653839111328, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.048256658017635345, -0.4510948359966278, 0.6315327882766724, 1.6378653049468994, -0.7562752962112427, -1.9354162216186523, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.84744793176651, 0.47436484694480896, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04787518084049225, -0.4697871506214142, 0.6219958662986755, 1.6378653049468994, -0.7398717999458313, -1.9331272840499878, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.8478294014930725, 0.47436484694480896, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.048256658017635345, -0.49000534415245056, 0.6132219433784485, 1.6378653049468994, -0.7299534678459167, -1.9274052381515503, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.848210871219635, 0.47436484694480896, -1.4280537366867065, -0.1668955534696579, 1.6275653839111328, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05970092490315437, -0.509079098701477, 0.6055924296379089, 1.637483835220337, -0.7242313027381897, -1.9205386638641357, -0.007045912090688944, 0.007045912090688944, 0.6746395230293274, -0.848210871219635, 0.47474631667137146, -1.4280537366867065, -0.1672770231962204, 1.6275653839111328, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07724879682064056, -0.5251010656356812, 0.6002517938613892, 1.637483835220337, -0.7211795449256897, -1.9148164987564087, -0.008222810924053192, 0.008222810924053192, 0.6750209927558899, -0.8485923409461975, 0.47474631667137146, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08869306743144989, -0.5384527444839478, 0.5964370369911194, 1.637483835220337, -0.7207980751991272, -1.9136720895767212, -0.010859251022338867, 0.010859251022338867, 0.6746395230293274, -0.8485923409461975, 0.47512778639793396, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09975585341453552, -0.5453193187713623, 0.5945296287536621, 1.637483835220337, -0.7200350761413574, -1.9106203317642212, -0.012153069488704205, 0.012153069488704205, 0.6746395230293274, -0.8485923409461975, 0.47512778639793396, -1.4280537366867065, -0.1668955534696579, 1.6275653839111328, -0.01749163493514061, 0.01749163493514061], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10585946589708328, -0.5460822582244873, 0.5941481590270996, 1.6378653049468994, -0.7188906669616699, -1.9106203317642212, -0.012153069488704205, 0.012153069488704205, 0.6746395230293274, -0.8485923409461975, 0.47512778639793396, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.01750132441520691, 0.01750132441520691], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10891126841306686, -0.5399786233901978, 0.5933852195739746, 1.6371023654937744, -0.7185091972351074, -1.9106203317642212, -0.012135792523622513, 0.012135792523622513, 0.6746395230293274, -0.8485923409461975, 0.47512778639793396, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.017511017620563507, 0.017511017620563507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11158160120248795, -0.5270084738731384, 0.5933852195739746, 1.637483835220337, -0.7185091972351074, -1.9098572731018066, -0.010743754915893078, 0.010743754915893078, 0.6746395230293274, -0.8485923409461975, 0.47512778639793396, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.017511017620563507, 0.017511017620563507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10929274559020996, -0.5098420977592468, 0.5933852195739746, 1.6371023654937744, -0.7185091972351074, -1.9026093482971191, -0.010530590079724789, 0.010530590079724789, 0.6746395230293274, -0.8485923409461975, 0.47512778639793396, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.017511017620563507, 0.017511017620563507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09861142933368683, -0.499542236328125, 0.5930037498474121, 1.637483835220337, -0.7185091972351074, -1.894216775894165, -0.009111112914979458, 0.009111112914979458, 0.6746395230293274, -0.8485923409461975, 0.47512778639793396, -1.4280537366867065, -0.1672770231962204, 1.6279468536376953, -0.017511017620563507, 0.017511017620563507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08983749151229858, -0.501068115234375, 0.5907148718833923, 1.6371023654937744, -0.7188906669616699, -1.8865872621536255, -0.008965492248535156, 0.008965492248535156, 0.6746395230293274, -0.8485923409461975, 0.47512778639793396, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.017511017620563507, 0.017511017620563507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0875486359000206, -0.5071717500686646, 0.5880445837974548, 1.6371023654937744, -0.7192721366882324, -1.880865216255188, -0.008965492248535156, 0.008965492248535156, 0.6746395230293274, -0.8485923409461975, 0.47398337721824646, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.017511017620563507, 0.017511017620563507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0879301130771637, -0.5094605684280396, 0.5869001150131226, 1.6371023654937744, -0.7196536064147949, -1.880102276802063, -0.008707377128303051, 0.008707377128303051, 0.6746395230293274, -0.8485923409461975, 0.4732204079627991, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.017511017620563507, 0.017511017620563507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09021896868944168, -0.5006866455078125, 0.5872815847396851, 1.6371023654937744, -0.7196536064147949, -1.8770503997802734, -0.0063701500184834, 0.0063701500184834, 0.6746395230293274, -0.8485923409461975, 0.4732204079627991, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.017511017620563507, 0.017511017620563507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09021896868944168, -0.4812313914299011, 0.5903334021568298, 1.6371023654937744, -0.7196536064147949, -1.8701838254928589, -0.00455327657982707, 0.00455327657982707, 0.6746395230293274, -0.8485923409461975, 0.4736018776893616, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.017511017620563507, 0.017511017620563507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09021896868944168, -0.45757991075515747, 0.5941481590270996, 1.6371023654937744, -0.7200350761413574, -1.8541618585586548, -0.000724667333997786, 0.000724667333997786, 0.6746395230293274, -0.8485923409461975, 0.47627222537994385, -1.4280537366867065, -0.1668955534696579, 1.6279468536376953, -0.017511017620563507, 0.017511017620563507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09021896868944168, -0.42782482504844666, 0.5987258553504944, 1.6371023654937744, -0.7192721366882324, -1.8373769521713257, -0.00015826411254238337, 0.00015826411254238337, 0.6742580533027649, -0.84744793176651, 0.4797055125236511, -1.4280537366867065, -0.1665140837430954, 1.6279468536376953, -0.017511017620563507, 0.017511017620563507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09021896868944168, -0.3927290737628937, 0.6029220819473267, 1.6371023654937744, -0.7192721366882324, -1.819447636604309, -0.00015826411254238337, 0.00015826411254238337, 0.6734950542449951, -0.8371480703353882, 0.4880979657173157, -1.4280537366867065, -0.16002899408340454, 1.6279468536376953, -0.01748194545507431, 0.01748194545507431], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09021896868944168, -0.34733349084854126, 0.6048294901847839, 1.6371023654937744, -0.7196536064147949, -1.801899790763855, -0.00015826411254238337, 0.00015826411254238337, 0.6731135845184326, -0.810826301574707, 0.4968718886375427, -1.4280537366867065, -0.1329442262649536, 1.6279468536376953, -0.014667334035038948, 0.014667334035038948], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09365224838256836, -0.2920195460319519, 0.6052109599113464, 1.636720895767212, -0.7200350761413574, -1.7896925210952759, -0.00015826411254238337, 0.00015826411254238337, 0.6731135845184326, -0.7532234787940979, 0.5033569931983948, -1.428435206413269, -0.1024261862039566, 1.6279468536376953, -0.00741557264700532, 0.00741557264700532], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10738536715507507, -0.22259098291397095, 0.6025406122207642, 1.6371023654937744, -0.7192721366882324, -1.7736705541610718, -0.00015826411254238337, 0.00015826411254238337, 0.6731135845184326, -0.6670100092887878, 0.5094605684280396, -1.428435206413269, -0.06237125024199486, 1.6302357912063599, -3.757924059755169e-05, 3.757924059755169e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1329442262649536, -0.1356145590543747, 0.5891889929771423, 1.636720895767212, -0.7043945789337158, -1.7595559358596802, -0.00015826411254238337, 0.00015826411254238337, 0.6734950542449951, -0.5731670260429382, 0.5170900821685791, -1.428435206413269, -0.006294346414506435, 1.6302357912063599, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17910276353359222, -0.03833829239010811, 0.5540932416915894, 1.636720895767212, -0.6540398001670837, -1.7488746643066406, -0.00015826411254238337, 0.00015826411254238337, 0.6731135845184326, -0.4854276478290558, 0.5231937170028687, -1.428435206413269, 0.06885633617639542, 1.6298543214797974, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2500572204589844, 0.04901960864663124, 0.4964904189109802, 1.6359578371047974, -0.5891889929771423, -1.7462043762207031, -0.00015826411254238337, 0.00015826411254238337, 0.6734950542449951, -0.4083695709705353, 0.5201418995857239, -1.428435206413269, 0.15735866129398346, 1.6294728517532349, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34771496057510376, 0.10929274559020996, 0.4224841594696045, 1.6363393068313599, -0.5167086124420166, -1.7465858459472656, -0.00015826411254238337, 0.00015826411254238337, 0.6754024624824524, -0.34771496057510376, 0.501068115234375, -1.428435206413269, 0.22449836134910583, 1.6275653839111328, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4533836841583252, 0.13866636157035828, 0.33665215969085693, 1.6340504884719849, -0.4228656589984894, -1.7504005432128906, -0.00015826411254238337, 0.00015826411254238337, 0.6826505064964294, -0.30270084738731384, 0.4709315598011017, -1.428435206413269, 0.2615014910697937, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.54112309217453, 0.14744029939174652, 0.2473868876695633, 1.6340504884719849, -0.3118562698364258, -1.7610818147659302, -0.00015826411254238337, 0.00015826411254238337, 0.6967650651931763, -0.273708701133728, 0.4350728690624237, -1.428435206413269, 0.28591591119766235, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5910963416099548, 0.14438849687576294, 0.1836804747581482, 1.6344319581985474, -0.2317463904619217, -1.7771037817001343, -0.00015826411254238337, 0.00015826411254238337, 0.7124055624008179, -0.2580682039260864, 0.39845120906829834, -1.427672266960144, 0.2935454249382019, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6212329268455505, 0.1348516047000885, 0.13103684782981873, 1.6344319581985474, -0.1806286722421646, -1.8003737926483154, -0.00015826411254238337, 0.00015826411254238337, 0.7314793467521667, -0.24967575073242188, 0.3557259440422058, -1.4246203899383545, 0.28591591119766235, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6383993029594421, 0.12455176562070847, 0.09060044586658478, 1.6351948976516724, -0.15735866129398346, -1.823262333869934, -0.00015826411254238337, 0.00015826411254238337, 0.7425421476364136, -0.2454795092344284, 0.3126192092895508, -1.424238920211792, 0.2500572204589844, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6498435735702515, 0.1180666834115982, 0.06084534898400307, 1.636720895767212, -0.12493324279785156, -1.8427176475524902, -0.00015826411254238337, 0.00015826411254238337, 0.7494087219238281, -0.24319066107273102, 0.2805752754211426, -1.4230945110321045, 0.21229113638401031, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.657473087310791, 0.11158160120248795, 0.040245670825242996, 1.6371023654937744, -0.0883115902543068, -1.8533989191055298, -0.00015826411254238337, 0.00015826411254238337, 0.7555122971534729, -0.24166475236415863, 0.25425344705581665, -1.4208056926727295, 0.16880293190479279, 1.6271839141845703, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, 0.10700388997793198, 0.029182879254221916, 1.6371023654937744, -0.06504157930612564, -1.8591210842132568, -0.00015826411254238337, 0.00015826411254238337, 0.7711527943611145, -0.24166475236415863, 0.22793163359165192, -1.4208056926727295, 0.12417028844356537, 1.6271839141845703, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6635767221450806, 0.1035706102848053, 0.023079270496964455, 1.6371023654937744, -0.04634927958250046, -1.8545433282852173, -0.00015826411254238337, 0.00015826411254238337, 0.7829785346984863, -0.24128328263759613, 0.20771344006061554, -1.4208056926727295, 0.08106355369091034, 1.6271839141845703, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6670100092887878, 0.10128175467252731, 0.01888304017484188, 1.636720895767212, -0.03185320645570755, -1.8396657705307007, -0.00015826411254238337, 0.00015826411254238337, 0.7902265787124634, -0.24128328263759613, 0.19436179101467133, -1.421187162399292, 0.05092698708176613, 1.6271839141845703, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6723506450653076, 0.10051880776882172, 0.016594186425209045, 1.6371023654937744, -0.022697795182466507, -1.8270771503448486, -0.00015826411254238337, 0.00015826411254238337, 0.7928969264030457, -0.24128328263759613, 0.18596932291984558, -1.421187162399292, 0.026131074875593185, 1.6271839141845703, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6876096725463867, 0.09784847497940063, 0.015449759550392628, 1.6371023654937744, -0.013160906732082367, -1.820973515510559, -0.00015826411254238337, 0.00015826411254238337, 0.7955672740936279, -0.24128328263759613, 0.1813916265964508, -1.421187162399292, 0.01506828423589468, 1.6275653839111328, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7085908055305481, 0.09060044586658478, 0.012397955171763897, 1.6371023654937744, 0.001716639962978661, -1.7942702770233154, -0.00015826411254238337, 0.00015826411254238337, 0.7955672740936279, -0.24090181291103363, 0.17872129380702972, -1.4215686321258545, 0.008201723918318748, 1.6275653839111328, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7166017889976501, 0.07267109304666519, 0.005912871100008488, 1.6371023654937744, 0.026131074875593185, -1.7748149633407593, -0.00015826411254238337, 0.00015826411254238337, 0.7963302135467529, -0.24090181291103363, 0.17795833945274353, -1.4215686321258545, 0.0020981156267225742, 1.6275653839111328, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.725375771522522, 0.04634927958250046, -0.006294346414506435, 1.6371023654937744, 0.05359731614589691, -1.7679483890533447, -0.00015826411254238337, 0.00015826411254238337, 0.7963302135467529, -0.24090181291103363, 0.17681391537189484, -1.421950101852417, 0.001716639962978661, 1.6275653839111328, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7368200421333313, 0.028038453310728073, -0.01506828423589468, 1.6371023654937744, 0.0879301130771637, -1.7439154386520386, -0.00015826411254238337, 0.00015826411254238337, 0.7963302135467529, -0.24090181291103363, 0.17605096101760864, -1.4246203899383545, -0.0020981156267225742, 1.6279468536376953, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.769245445728302, 0.013160906732082367, -0.019645990803837776, 1.636720895767212, 0.1024261862039566, -1.7008087635040283, -0.00015826411254238337, 0.00015826411254238337, 0.7963302135467529, -0.24090181291103363, 0.17528800666332245, -1.4246203899383545, -0.004386968910694122, 1.6279468536376953, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8268482685089111, 0.007057297509163618, -0.023079270496964455, 1.6371023654937744, 0.11348897218704224, -1.639009714126587, -0.00015826411254238337, 0.00015826411254238337, 0.7978560924530029, -0.23250934481620789, 0.1668955534696579, -1.4368276596069336, -0.010109102353453636, 1.6302357912063599, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8596551418304443, 0.006294346414506435, -0.02536812424659729, 1.6371023654937744, 0.1180666834115982, -1.5962843894958496, -0.00015826411254238337, 0.00015826411254238337, 0.8176928162574768, -0.1970321238040924, 0.13981078565120697, -1.4654383659362793, -0.03643091395497322, 1.6302357912063599, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.005912871100008488, -0.026512550190091133, 1.6371023654937744, 0.12264438718557358, -1.579118013381958, -0.00015826411254238337, 0.00015826411254238337, 0.8356221914291382, -0.14248111844062805, 0.10662241280078888, -1.494430422782898, -0.06656748056411743, 1.6298543214797974, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, 0.0020981156267225742, -0.026512550190091133, 1.6371023654937744, 0.12455176562070847, -1.578355073928833, -0.00015826411254238337, 0.00015826411254238337, 0.8451590538024902, -0.10891126841306686, 0.0879301130771637, -1.5108338594436646, -0.08106355369091034, 1.6298543214797974, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8600366115570068, -0.0009536888683214784, -0.025749599561095238, 1.6371023654937744, 0.12455176562070847, -1.5787365436553955, -0.00015826411254238337, 0.00015826411254238337, 0.8497368097305298, -0.09174486994743347, 0.07801175117492676, -1.5203708410263062, -0.08945601433515549, 1.6279468536376953, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8520256280899048, -0.001716639962978661, -0.025749599561095238, 1.6371023654937744, 0.12493324279785156, -1.5867475271224976, -0.00015826411254238337, 0.00015826411254238337, 0.8531700372695923, -0.08106355369091034, 0.07267109304666519, -1.5280003547668457, -0.09479667246341705, 1.6264209747314453, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8443961143493652, -0.0020981156267225742, -0.025749599561095238, 1.6371023654937744, 0.12493324279785156, -1.5978103876113892, -0.00015826411254238337, 0.00015826411254238337, 0.8539330363273621, -0.07648584991693497, 0.07000076025724411, -1.5310521125793457, -0.09670405089855194, 1.6264209747314453, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -0.002861066721379757, -0.025749599561095238, 1.6371023654937744, 0.12531471252441406, -1.6050583124160767, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.07305257022380829, 0.06847485899925232, -1.5314335823059082, -0.09899290651082993, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -0.0032425422687083483, -0.025749599561095238, 1.6371023654937744, 0.12531471252441406, -1.6096360683441162, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.07305257022380829, 0.06809338182210922, -1.5341038703918457, -0.10013733059167862, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8299000263214111, -0.004005493130534887, -0.02536812424659729, 1.636720895767212, 0.12531471252441406, -1.6176470518112183, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.07267109304666519, 0.06809338182210922, -1.5341038703918457, -0.10051880776882172, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8142595291137695, -0.005531395319849253, -0.024986648932099342, 1.636720895767212, 0.12531471252441406, -1.6378653049468994, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5344853401184082, -0.10090028494596481, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7967116832733154, -0.007057297509163618, -0.024605173617601395, 1.6371023654937744, 0.12531471252441406, -1.658846378326416, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5341038703918457, -0.10090028494596481, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7867932915687561, -0.0078202486038208, -0.024223696440458298, 1.636720895767212, 0.12569619715213776, -1.6702907085418701, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5341038703918457, -0.10090028494596481, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7825970649719238, -0.008201723918318748, -0.024223696440458298, 1.6371023654937744, 0.12569619715213776, -1.6802090406417847, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5341038703918457, -0.10128175467252731, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.00858320016413927, -0.02384222112596035, 1.636720895767212, 0.12569619715213776, -1.6847867965698242, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5341038703918457, -0.10090028494596481, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7776378989219666, -0.00858320016413927, -0.02384222112596035, 1.636720895767212, 0.12569619715213776, -1.6886014938354492, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5341038703918457, -0.10128175467252731, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.777256429195404, -0.00858320016413927, -0.02384222112596035, 1.636720895767212, 0.12569619715213776, -1.6912717819213867, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5341038703918457, -0.10128175467252731, 1.6268024444580078, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7761120200157166, -0.00858320016413927, -0.02384222112596035, 1.636720895767212, 0.12607766687870026, -1.6912717819213867, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5337224006652832, -0.10128175467252731, 1.6271839141845703, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7761120200157166, -0.00858320016413927, -0.02384222112596035, 1.636720895767212, 0.12569619715213776, -1.6912717819213867, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5337224006652832, -0.10128175467252731, 1.6271839141845703, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7761120200157166, -0.00858320016413927, -0.02384222112596035, 1.636720895767212, 0.12569619715213776, -1.6912717819213867, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5337224006652832, -0.10128175467252731, 1.6271839141845703, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7761120200157166, -0.00858320016413927, -0.02384222112596035, 1.636720895767212, 0.12607766687870026, -1.6912717819213867, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5333409309387207, -0.10128175467252731, 1.6271839141845703, -2.4338049115613103e-05, 2.4338049115613103e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7761120200157166, -0.00858320016413927, -0.02384222112596035, 1.636720895767212, 0.12569619715213776, -1.6912717819213867, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5318150520324707, -0.10128175467252731, 1.6271839141845703, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7761120200157166, -0.00858320016413927, -0.02384222112596035, 1.636720895767212, 0.12607766687870026, -1.6916533708572388, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5318150520324707, -0.10166323184967041, 1.6275653839111328, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7761120200157166, -0.00858320016413927, -0.02384222112596035, 1.636720895767212, 0.12607766687870026, -1.6912717819213867, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5318150520324707, -0.10128175467252731, 1.6275653839111328, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7761120200157166, -0.00858320016413927, -0.02384222112596035, 1.636720895767212, 0.12569619715213776, -1.6916533708572388, -0.00015826411254238337, 0.00015826411254238337, 0.8546959757804871, -0.0722896158695221, 0.06809338182210922, -1.5321965217590332, -0.10128175467252731, 1.6275653839111328, -2.1032983568147756e-05, 2.1032983568147756e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000007/meta.json b/rc-table30-v2__rc-dos-w1/000007/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..514cb843b8e2df33173fe0729ea2519156de778b
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000007/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Pair the two pairs of shoes on the desk and place them on the shoe rack",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 3472,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000010/meta.json b/rc-table30-v2__rc-dos-w1/000010/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5a77d22af80ed5cabc3ca9fb4bbf99c712a9847
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000010/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Fold the T-shirts and stack them neatly in the upper-left corner of the table.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 10707,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000010/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000010/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..45c513ee9d5cf2e8f5d77c03d3210a60cedf09fc
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000010/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000010/temporal.json b/rc-table30-v2__rc-dos-w1/000010/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..08c5a9e5ee523e83c5a2ca989d6d7b561189db0d
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000010/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5325779914855957, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07763027399778366, 1.4852750301361084, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5325779914855957, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07763027399778366, 1.4852750301361084, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5325779914855957, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07763027399778366, 1.4852750301361084, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5325779914855957, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07763027399778366, 1.485656499862671, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5325779914855957, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07801175117492676, 1.485656499862671, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5325779914855957, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07763027399778366, 1.485656499862671, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5325779914855957, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07801175117492676, 1.485656499862671, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5325779914855957, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07763027399778366, 1.4860379695892334, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5321965217590332, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.41470205783844, -0.07763027399778366, 1.4860379695892334, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5321965217590332, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07763027399778366, 1.4860379695892334, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5321965217590332, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.41470205783844, -0.07763027399778366, 1.4860379695892334, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5325779914855957, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07801175117492676, 1.4860379695892334, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.040245670825242996, -0.013542382046580315, 1.5321965217590332, 0.08945601433515549, -1.6489280462265015, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.41470205783844, -0.07801175117492676, 1.4860379695892334, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8016708493232727, -0.040245670825242996, -0.013542382046580315, 1.5321965217590332, 0.08945601433515549, -1.6512168645858765, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.41470205783844, -0.07763027399778366, 1.4860379695892334, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7940413355827332, -0.040245670825242996, -0.013542382046580315, 1.5321965217590332, 0.08945601433515549, -1.6649500131607056, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07763027399778366, 1.4868009090423584, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7803082466125488, -0.040627144277095795, -0.0078202486038208, 1.5321965217590332, 0.0864042118191719, -1.6813534498214722, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.01773861236870289, -1.4150835275650024, -0.07801175117492676, 1.487182378768921, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7719157934188843, -0.04100862145423889, 0.01773861236870289, 1.5321965217590332, 0.08220797777175903, -1.6962310075759888, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.1348516047000885, 0.02689402550458908, -1.41470205783844, -0.06771191209554672, 1.4860379695892334, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7589455842971802, -0.04291599988937378, 0.08106355369091034, 1.5321965217590332, 0.040245670825242996, -1.6977568864822388, -4.539007932180539e-06, 4.539007932180539e-06, 0.8470664620399475, -0.135233074426651, 0.08182650804519653, -1.41470205783844, -0.03452353551983833, 1.4536125659942627, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.728427529335022, -0.06542305648326874, 0.17147326469421387, 1.5318150520324707, -0.05359731614589691, -1.6813534498214722, -4.539007932180539e-06, 4.539007932180539e-06, 0.8451590538024902, -0.15545128285884857, 0.17566949129104614, -1.4150835275650024, 0.020027466118335724, 1.4063096046447754, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6605249047279358, -0.12531471252441406, 0.2798123061656952, 1.5325779914855957, -0.1810101419687271, -1.6371023654937744, -4.539007932180539e-06, 4.539007932180539e-06, 0.812352180480957, -0.21152819693088531, 0.2813382148742676, -1.4150835275650024, 0.06618601083755493, 1.3551918268203735, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5853742361068726, -0.2138170450925827, 0.38052186369895935, 1.5329594612121582, -0.3118562698364258, -1.576829195022583, -4.539007932180539e-06, 4.539007932180539e-06, 0.7520790696144104, -0.31643396615982056, 0.3934920132160187, -1.4150835275650024, 0.11463340371847153, 1.3105592727661133, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5319676399230957, -0.31948578357696533, 0.47398337721824646, 1.5341038703918457, -0.4247730076313019, -1.511215329170227, -4.539007932180539e-06, 4.539007932180539e-06, 0.691042959690094, -0.4732204079627991, 0.5281528830528259, -1.4150835275650024, 0.19321736693382263, 1.2502861022949219, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4854276478290558, -0.4560540020465851, 0.5750743746757507, 1.519226312637329, -0.54417484998703, -1.4311054944992065, -4.539007932180539e-06, 4.539007932180539e-06, 0.6467918157577515, -0.6795986890792847, 0.691805899143219, -1.4150835275650024, 0.3282597064971924, 1.1469062566757202, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39806973934173584, -0.5918593406677246, 0.6647211313247681, 1.3799878358840942, -0.6868467330932617, -1.262493371963501, -4.539007932180539e-06, 4.539007932180539e-06, 0.6086442470550537, -0.8772030472755432, 0.8524070978164673, -1.4127947092056274, 0.4678797721862793, 1.0336079597473145, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2943083941936493, -0.7227054238319397, 0.7444495558738708, 1.2067978382110596, -0.8443961143493652, -1.0687037706375122, -4.539007932180539e-06, 4.539007932180539e-06, 0.5323491096496582, -1.0828183889389038, 1.024452567100525, -1.2659265995025635, 0.6723506450653076, 0.8287556171417236, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.8493552803993225, 0.8169298768043518, 1.0900664329528809, -0.9859235286712646, -0.8939879536628723, -4.539007932180539e-06, 4.539007932180539e-06, 0.4640650153160095, -1.2487602233886719, 1.1724650859832764, -1.1270694732666016, 0.8661402463912964, 0.6799801588058472, -0.0006874055834487081, 0.0006874055834487081], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1497291475534439, -0.9363317489624023, 0.8646143078804016, 1.0728999376296997, -1.0599298477172852, -0.7925154566764832, -4.539007932180539e-06, 4.539007932180539e-06, 0.4331654906272888, -1.359006643295288, 1.272030234336853, -1.0927367210388184, 0.9874494671821594, 0.6006332635879517, -0.009822113439440727, 0.009822113439440727], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11043716967105865, -1.0030899047851562, 0.8943694233894348, 1.0740443468093872, -1.104943871498108, -0.7139315009117126, -0.002909376984462142, 0.002909376984462142, 0.4232471287250519, -1.4295796155929565, 1.333447813987732, -1.1037994623184204, 1.051155924797058, 0.5502784848213196, -0.01408945582807064, 0.01408945582807064], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08182650804519653, -1.0465781688690186, 0.9100099205970764, 1.0782406330108643, -1.128213882446289, -0.6395437717437744, -0.006833387538790703, 0.006833387538790703, 0.42591744661331177, -1.4803158044815063, 1.3731212615966797, -1.114862322807312, 1.0934996604919434, 0.5094605684280396, -0.017124302685260773, 0.017124302685260773], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07343403995037079, -1.0694667100906372, 0.9145876169204712, 1.0801479816436768, -1.1350804567337036, -0.5670633912086487, -0.012032334692776203, 0.012032334692776203, 0.440032035112381, -1.5196079015731812, 1.3990615606307983, -1.1182955503463745, 1.1217288970947266, 0.4736018776893616, -0.023893995210528374, 0.023893995210528374], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07801175117492676, -1.0828183889389038, 0.9134432077407837, 1.0805294513702393, -1.1388952732086182, -0.5151827335357666, -0.01603396050632, 0.01603396050632, 0.4526207447052002, -1.5428777933120728, 1.4120317697525024, -1.124399185180664, 1.1362248659133911, 0.4484245181083679, -0.02681099623441696, 0.02681099623441696], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0883115902543068, -1.0915923118591309, 0.9004730582237244, 1.0797665119171143, -1.1350804567337036, -0.47589075565338135, -0.018986685201525688, 0.018986685201525688, 0.4709315598011017, -1.560044288635254, 1.4185168743133545, -1.1465247869491577, 1.1373693943023682, 0.4327840209007263, -0.028349952772259712, 0.028349952772259712], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09060044586658478, -1.098840355873108, 0.884069561958313, 1.0809109210968018, -1.1102845668792725, -0.4541466534137726, -0.022023936733603477, 0.022023936733603477, 0.4884794354438782, -1.573395848274231, 1.4230945110321045, -1.1690318584442139, 1.1335545778274536, 0.42515450716018677, -0.028788000345230103, 0.028788000345230103], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09250781685113907, -1.1087586879730225, 0.8741512298583984, 1.0809109210968018, -1.0908293724060059, -0.4404135048389435, -0.022492248564958572, 0.022492248564958572, 0.4953460097312927, -1.583314299583435, 1.4253833293914795, -1.1835278272628784, 1.128213882446289, 0.4179064631462097, -0.028788000345230103, 0.028788000345230103], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09670405089855194, -1.119439959526062, 0.8691920638084412, 1.0805294513702393, -1.0725184679031372, -0.43240252137184143, -0.02289055660367012, 0.02289055660367012, 0.4999237060546875, -1.593614101409912, 1.426146388053894, -1.1934462785720825, 1.1278324127197266, 0.41103988885879517, -0.028788000345230103, 0.028788000345230103], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1031891331076622, -1.1320286989212036, 0.8607995510101318, 1.0809109210968018, -1.0568779706954956, -0.422102689743042, -0.02289055660367012, 0.02289055660367012, 0.5037384629249573, -1.5997177362442017, 1.426146388053894, -1.196879506111145, 1.1289769411087036, 0.403410404920578, -0.028797274455428123, 0.028797274455428123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10624094307422638, -1.1423285007476807, 0.8535515666007996, 1.0809109210968018, -1.037422776222229, -0.41409170627593994, -0.023238733410835266, 0.023238733410835266, 0.5045014023780823, -1.6023880243301392, 1.426146388053894, -1.2006943225860596, 1.1240177154541016, 0.3995956480503082, -0.02965093031525612, 0.02965093031525612], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10662241280078888, -1.1518653631210327, 0.8524070978164673, 1.0809109210968018, -1.021400809288025, -0.4056992530822754, -0.02326856181025505, 0.02326856181025505, 0.5045014023780823, -1.6058213710784912, 1.4265278577804565, -1.202601671218872, 1.114099383354187, 0.39578089118003845, -0.030697740614414215, 0.030697740614414215], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10852979123592377, -1.1625467538833618, 0.8543145060539246, 1.0809109210968018, -1.0152971744537354, -0.39539939165115356, -0.023278502747416496, 0.023278502747416496, 0.5052643418312073, -1.6065843105316162, 1.427672266960144, -1.2037460803985596, 1.1053253412246704, 0.3912031650543213, -0.030741747468709946, 0.030741747468709946], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10967422276735306, -1.1766613721847534, 0.8592736721038818, 1.0809109210968018, -1.0042344331741333, -0.3900587558746338, -0.02334807626903057, 0.02334807626903057, 0.5064088106155396, -1.6084916591644287, 1.429198145866394, -1.2037460803985596, 1.0957884788513184, 0.3847180902957916, -0.030750541016459465, 0.030750541016459465], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11043716967105865, -1.19306480884552, 0.8665217161178589, 1.0805294513702393, -0.9977492690086365, -0.3843366205692291, -0.023963365703821182, 0.023963365703821182, 0.5064088106155396, -1.6126878261566162, 1.433012843132019, -1.2037460803985596, 1.0900664329528809, 0.38128480315208435, -0.030750541016459465, 0.030750541016459465], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11043716967105865, -1.2087053060531616, 0.8745326995849609, 1.0809109210968018, -0.995841920375824, -0.3763256371021271, -0.023963365703821182, 0.023963365703821182, 0.5064088106155396, -1.6161211729049683, 1.437209129333496, -1.204127550125122, 1.0873960256576538, 0.3767071068286896, -0.030741747468709946, 0.030741747468709946], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11272602528333664, -1.2266346216201782, 0.8836880922317505, 1.0809109210968018, -0.9939345121383667, -0.36907759308815, -0.023963365703821182, 0.023963365703821182, 0.5079346895217896, -1.6214618682861328, 1.440260887145996, -1.2037460803985596, 1.0847257375717163, 0.3694590628147125, -0.030741747468709946, 0.030741747468709946], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11387044936418533, -1.2438009977340698, 0.8924620151519775, 1.0809109210968018, -0.9931715726852417, -0.36526283621788025, -0.023963365703821182, 0.023963365703821182, 0.508316159248352, -1.6287097930908203, 1.4456015825271606, -1.2037460803985596, 1.0839627981185913, 0.36564430594444275, -0.030741747468709946, 0.030741747468709946], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11615930497646332, -1.257534146308899, 0.9004730582237244, 1.0809109210968018, -0.9905012845993042, -0.361066609621048, -0.023963365703821182, 0.023963365703821182, 0.508316159248352, -1.6378653049468994, 1.4494163990020752, -1.204127550125122, 1.0835813283920288, 0.3614480793476105, -0.030732950195670128, 0.030732950195670128], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1188296303153038, -1.268596887588501, 0.9058136940002441, 1.0809109210968018, -0.9901197552680969, -0.3530556261539459, -0.023963365703821182, 0.023963365703821182, 0.5086976289749146, -1.6481651067733765, 1.4543755054473877, -1.204127550125122, 1.0828183889389038, 0.3583962619304657, -0.03062720037996769, 0.03062720037996769], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12149996310472488, -1.278515338897705, 0.9088655114173889, 1.0809109210968018, -0.9786755442619324, -0.343900203704834, -0.023963365703821182, 0.023963365703821182, 0.5106050372123718, -1.656557559967041, 1.4608606100082397, -1.204127550125122, 1.0824369192123413, 0.3545815348625183, -0.030254313722252846, 0.030254313722252846], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12607766687870026, -1.2891966104507446, 0.9130617380142212, 1.0809109210968018, -0.9714275002479553, -0.33588922023773193, -0.023963365703821182, 0.023963365703821182, 0.5125123858451843, -1.665331482887268, 1.4658198356628418, -1.204127550125122, 1.0816738605499268, 0.35114824771881104, -0.02973257005214691, 0.02973257005214691], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13179980218410492, -1.3040741682052612, 0.919165313243866, 1.0809109210968018, -0.9645609259605408, -0.32978561520576477, -0.02397327311336994, 0.02397327311336994, 0.5140383243560791, -1.6744868755340576, 1.4696345329284668, -1.204127550125122, 1.0809109210968018, 0.35038527846336365, -0.028852881863713264, 0.028852881863713264], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13828489184379578, -1.3185702562332153, 0.9260318875312805, 1.0809109210968018, -0.959983229637146, -0.3244449496269226, -0.023963365703821182, 0.023963365703821182, 0.5148012638092041, -1.6817349195480347, 1.4723048210144043, -1.204127550125122, 1.0805294513702393, 0.35000380873680115, -0.02854618988931179, 0.02854618988931179], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14591439068317413, -1.332684874534607, 0.9306095838546753, 1.0801479816436768, -0.9531166553497314, -0.32024872303009033, -0.023953456431627274, 0.023953456431627274, 0.5148012638092041, -1.6874570846557617, 1.4726864099502563, -1.204127550125122, 1.0801479816436768, 0.35038527846336365, -0.027031969279050827, 0.027031969279050827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15354390442371368, -1.344510555267334, 0.9325169920921326, 1.0809109210968018, -0.9523537158966064, -0.31719690561294556, -0.022163452580571175, 0.022163452580571175, 0.5151827335357666, -1.6905088424682617, 1.4723048210144043, -1.204127550125122, 1.0778591632843018, 0.35038527846336365, -0.023596396669745445, 0.023596396669745445], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16269932687282562, -1.3490883111953735, 0.927176296710968, 1.0809109210968018, -0.9515907764434814, -0.31643396615982056, -0.009057349525392056, 0.009057349525392056, 0.5155642032623291, -1.6920348405838013, 1.4662013053894043, -1.204127550125122, 1.0744259357452393, 0.35038527846336365, -0.010294879786670208, 0.010294879786670208], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1676585078239441, -1.335736632347107, 0.9145876169204712, 1.0809109210968018, -0.9496833682060242, -0.31681543588638306, -0.0007960834773257375, 0.0007960834773257375, 0.5155642032623291, -1.6908903121948242, 1.4616235494613647, -1.204127550125122, 1.0725184679031372, 0.35152971744537354, -0.0008836254710331559, 0.0008836254710331559], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1680399775505066, -1.2998778820037842, 0.9023804068565369, 1.0809109210968018, -0.9500648379325867, -0.3274967670440674, -0.0008036483195610344, 0.0008036483195610344, 0.5155642032623291, -1.6798275709152222, 1.4600976705551147, -1.2037460803985596, 1.0633630752563477, 0.36526283621788025, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1676585078239441, -1.2392233610153198, 0.8966583013534546, 1.0809109210968018, -0.9504463076591492, -0.34695202112197876, -0.0008036483195610344, 0.0008036483195610344, 0.5155642032623291, -1.6523613929748535, 1.4574273824691772, -1.2045090198516846, 1.056496500968933, 0.39387351274490356, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1665140837430954, -1.1564431190490723, 0.8993285894393921, 1.0812923908233643, -0.953498125076294, -0.36793315410614014, -0.0007998647633939981, 0.0007998647633939981, 0.5159456729888916, -1.5997177362442017, 1.4509422779083252, -1.204127550125122, 1.048485517501831, 0.4217212200164795, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17261768877506256, -1.057259440422058, 0.9172579646110535, 1.098840355873108, -0.953498125076294, -0.39539939165115356, -0.0007998647633939981, 0.0007998647633939981, 0.5189974904060364, -1.508163571357727, 1.4333943128585815, -1.204127550125122, 1.0305562019348145, 0.44499123096466064, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.9580758213996887, 0.9569314122200012, 1.1751353740692139, -0.9546425342559814, -0.4491874575614929, -0.0007998647633939981, 0.0007998647633939981, 0.5209048390388489, -1.3853284120559692, 1.4040207862854004, -1.204127550125122, 0.9828717708587646, 0.4530022144317627, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.27141985297203064, -0.8783474564552307, 1.0255969762802124, 1.3063629865646362, -0.9653238654136658, -0.5216678380966187, -0.0007998647633939981, 0.0007998647633939981, 0.5209048390388489, -1.2644007205963135, 1.3994430303573608, -1.204127550125122, 0.9363317489624023, 0.4545281231403351, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3221561014652252, -0.8314259648323059, 1.1350804567337036, 1.404402256011963, -1.0000381469726562, -0.5708781480789185, -0.0008036483195610344, 0.0008036483195610344, 0.5228122472763062, -1.1541543006896973, 1.421187162399292, -1.2071794271469116, 0.9126802682876587, 0.46177613735198975, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3568703830242157, -0.8085374236106873, 1.2502861022949219, 1.4585717916488647, -1.042000412940979, -0.5956740379333496, -0.0007998647633939981, 0.0007998647633939981, 0.535400927066803, -1.0858701467514038, 1.4639123678207397, -1.271267294883728, 0.8997100591659546, 0.49191272258758545, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.38204777240753174, -0.8001449704170227, 1.3643473386764526, 1.495193362236023, -1.0782406330108643, -0.5994887948036194, -0.0007998647633939981, 0.0007998647633939981, 0.5460822582244873, -1.0458152294158936, 1.5218967199325562, -1.3384069204330444, 0.9103913903236389, 0.5174715518951416, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39883267879486084, -0.804341197013855, 1.4726864099502563, 1.514648675918579, -1.117914080619812, -0.5991073250770569, -0.0008036483195610344, 0.0008036483195610344, 0.5575265288352966, -1.0263599157333374, 1.5829328298568726, -1.4150835275650024, 0.9348058104515076, 0.5399786233901978, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41256579756736755, -0.8184558153152466, 1.5764477252960205, 1.5283818244934082, -1.1541543006896973, -0.5899519324302673, -0.0007998647633939981, 0.0007998647633939981, 0.5651560425758362, -1.0141527652740479, 1.644350290298462, -1.4662013053894043, 0.9676127433776855, 0.5552376508712769, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44804301857948303, -0.8325703740119934, 1.662279725074768, 1.5508888959884644, -1.1861982345581055, -0.5796520709991455, -0.0007998647633939981, 0.0007998647633939981, 0.570496678352356, -1.0069047212600708, 1.6927977800369263, -1.4982452392578125, 1.0111008882522583, 0.5590524077415466, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.501068115234375, -0.8440146446228027, 1.7118715047836304, 1.6077287197113037, -1.206416368484497, -0.5804150700569153, -0.0008036483195610344, 0.0008036483195610344, 0.5739299654960632, -1.0000381469726562, 1.728274941444397, -1.5165560245513916, 1.0496299266815186, 0.5594338774681091, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5502784848213196, -0.8516441583633423, 1.733234167098999, 1.666857361793518, -1.2243458032608032, -0.5907148718833923, -0.0007998647633939981, 0.0007998647633939981, 0.5758373141288757, -0.9962233901023865, 1.7488746643066406, -1.5280003547668457, 1.0881589651107788, 0.5590524077415466, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5838482975959778, -0.8566033244132996, 1.743533968925476, 1.7034790515899658, -1.2350270748138428, -0.5994887948036194, -0.0007998647633939981, 0.0007998647633939981, 0.5766003131866455, -0.9912642240524292, 1.7603188753128052, -1.5341038703918457, 1.115625262260437, 0.5590524077415466, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6029220819473267, -0.8604180812835693, 1.7469673156738281, 1.7233158349990845, -1.2399863004684448, -0.6036850810050964, -0.0007998647633939981, 0.0007998647633939981, 0.576981782913208, -0.9874494671821594, 1.7660410404205322, -1.5379186868667603, 1.1461433172225952, 0.5590524077415466, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6158922910690308, -0.8607995510101318, 1.7465858459472656, 1.734760046005249, -1.2434195280075073, -0.6071183085441589, -0.0007998647633939981, 0.0007998647633939981, 0.5781261920928955, -0.9790570139884949, 1.7668039798736572, -1.5398260354995728, 1.1697947978973389, 0.5594338774681091, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6231403350830078, -0.8562218546867371, 1.736285924911499, 1.7423895597457886, -1.2499046325683594, -0.6086442470550537, -0.0007998647633939981, 0.0007998647633939981, 0.5842298269271851, -0.9634165167808533, 1.7557412385940552, -1.5424963235855103, 1.1861982345581055, 0.5628671646118164, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6296253800392151, -0.846684992313385, 1.718738079071045, 1.7454413175582886, -1.2541009187698364, -0.6097886562347412, -0.0007998647633939981, 0.0007998647633939981, 0.5960555672645569, -0.9424353241920471, 1.739719271659851, -1.5424963235855103, 1.196879506111145, 0.5663004517555237, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6357290148735046, -0.8337147831916809, 1.6927977800369263, 1.7484931945800781, -1.2563897371292114, -0.6097886562347412, -0.0007998647633939981, 0.0007998647633939981, 0.612077534198761, -0.9229800701141357, 1.7294193506240845, -1.5440223217010498, 1.2167162895202637, 0.572022557258606, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6410696506500244, -0.8211261034011841, 1.666857361793518, 1.7500190734863281, -1.257534146308899, -0.6086442470550537, -0.0007998647633939981, 0.0007998647633939981, 0.6258106231689453, -0.9092469811439514, 1.7233158349990845, -1.5440223217010498, 1.2422751188278198, 0.5781261920928955, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6483176946640015, -0.8104447722434998, 1.6451133489608765, 1.7511634826660156, -1.2579156160354614, -0.6067368388175964, -0.0007998647633939981, 0.0007998647633939981, 0.6342030763626099, -0.8993285894393921, 1.7206454277038574, -1.5436408519744873, 1.269741415977478, 0.5838482975959778, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6586175560951233, -0.8009079098701477, 1.6279468536376953, 1.7511634826660156, -1.258297085762024, -0.6067368388175964, -0.0007998647633939981, 0.0007998647633939981, 0.6391623020172119, -0.8936064839363098, 1.7191195487976074, -1.5428777933120728, 1.2979705333709717, 0.5888075232505798, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6734950542449951, -0.7902265787124634, 1.6157397031784058, 1.7511634826660156, -1.259060025215149, -0.6074998378753662, -0.0008036483195610344, 0.0008036483195610344, 0.6406881809234619, -0.889028787612915, 1.71797513961792, -1.5428777933120728, 1.3307774066925049, 0.5964370369911194, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.691805899143219, -0.7791637778282166, 1.6054397821426392, 1.7511634826660156, -1.2602044343948364, -0.6113145351409912, -0.0007998647633939981, 0.0007998647633939981, 0.6437399983406067, -0.8836880922317505, 1.71797513961792, -1.5424963235855103, 1.360532522201538, 0.6040665507316589, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7139315009117126, -0.7646677494049072, 1.592851161956787, 1.7515449523925781, -1.2602044343948364, -0.6170367002487183, -0.0007998647633939981, 0.0007998647633939981, 0.647936224937439, -0.8768215179443359, 1.71797513961792, -1.5436408519744873, 1.3879988193511963, 0.6113145351409912, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.734912633895874, -0.7482643127441406, 1.5756847858428955, 1.7511634826660156, -1.2602044343948364, -0.6227588057518005, -0.0007998647633939981, 0.0007998647633939981, 0.6563286781311035, -0.8684290647506714, 1.717212200164795, -1.5432593822479248, 1.41165030002594, 0.619325578212738, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7516975402832031, -0.7322422862052917, 1.5588998794555664, 1.7511634826660156, -1.2602044343948364, -0.6326771974563599, -0.0007998647633939981, 0.0007998647633939981, 0.6673914790153503, -0.8577477931976318, 1.71492338180542, -1.5432593822479248, 1.433012843132019, 0.6300068497657776, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7711527943611145, -0.7135500311851501, 1.5424963235855103, 1.7511634826660156, -1.259822964668274, -0.6445029377937317, -0.0007998647633939981, 0.0007998647633939981, 0.6792172193527222, -0.8455405235290527, 1.7118715047836304, -1.5432593822479248, 1.4547569751739502, 0.6399252414703369, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7928969264030457, -0.6960021257400513, 1.5295262336730957, 1.7511634826660156, -1.2602044343948364, -0.6589990258216858, -0.0007998647633939981, 0.0007998647633939981, 0.689517080783844, -0.8325703740119934, 1.7095826864242554, -1.5417333841323853, 1.4757381677627563, 0.649462103843689, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8085374236106873, -0.6818875670433044, 1.5199893712997437, 1.7507820129394531, -1.260585904121399, -0.6742580533027649, -0.0007998647633939981, 0.0007998647633939981, 0.6944762468338013, -0.8199816942214966, 1.7084382772445679, -1.5421148538589478, 1.4894713163375854, 0.6582360863685608, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8184558153152466, -0.6734950542449951, 1.514648675918579, 1.7507820129394531, -1.266308069229126, -0.6860837936401367, -0.0007998647633939981, 0.0007998647633939981, 0.697528064250946, -0.810826301574707, 1.7065308094024658, -1.5421148538589478, 1.507400631904602, 0.6670100092887878, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8279926776885986, -0.6689173579216003, 1.5119783878326416, 1.7504005432128906, -1.2918668985366821, -0.697528064250946, -0.0007998647633939981, 0.0007998647633939981, 0.699816882610321, -0.8054856061935425, 1.7053864002227783, -1.5424963235855103, 1.5283818244934082, 0.6742580533027649, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8398184180259705, -0.6662470698356628, 1.5108338594436646, 1.7504005432128906, -1.3178073167800903, -0.7104982137680054, -0.0007998647633939981, 0.0007998647633939981, 0.699816882610321, -0.8020523190498352, 1.7038605213165283, -1.5421148538589478, 1.5466926097869873, 0.6784542798995972, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.6635767221450806, 1.5100709199905396, 1.7500190734863281, -1.339932918548584, -0.7188906669616699, -0.0007998647633939981, 0.0007998647633939981, 0.699816882610321, -0.7982375621795654, 1.7038605213165283, -1.5421148538589478, 1.560044288635254, 0.6826505064964294, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8569847941398621, -0.6589990258216858, 1.511215329170227, 1.7504005432128906, -1.3555734157562256, -0.7238498330116272, -0.0007998647633939981, 0.0007998647633939981, 0.7009612917900085, -0.7902265787124634, 1.7038605213165283, -1.5421148538589478, 1.570344090461731, 0.6857023239135742, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8733882904052734, -0.6525139212608337, 1.5165560245513916, 1.7504005432128906, -1.3647288084030151, -0.732623815536499, -0.0007998647633939981, 0.0007998647633939981, 0.7082093358039856, -0.7791637778282166, 1.7038605213165283, -1.5421148538589478, 1.5749218463897705, 0.689517080783844, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, -0.6483176946640015, 1.5196079015731812, 1.7507820129394531, -1.3742656707763672, -0.7436865568161011, -0.0007998647633939981, 0.0007998647633939981, 0.7196536064147949, -0.7715343236923218, 1.7034790515899658, -1.5424963235855103, 1.5821698904037476, 0.6937133073806763, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9100099205970764, -0.6460288166999817, 1.5108338594436646, 1.7511634826660156, -1.3788433074951172, -0.7539864182472229, -0.0007998647633939981, 0.0007998647633939981, 0.726901650428772, -0.7673380374908447, 1.6920348405838013, -1.5444037914276123, 1.5829328298568726, 0.6971465349197388, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9019989371299744, -0.6490806341171265, 1.481841802597046, 1.7515449523925781, -1.3841840028762817, -0.7570382356643677, -0.0007998647633939981, 0.0007998647633939981, 0.7223239541053772, -0.7658121585845947, 1.657320499420166, -1.5440223217010498, 1.568055272102356, 0.6979095339775085, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8657587766647339, -0.6624323129653931, 1.437972068786621, 1.7515449523925781, -1.3818951845169067, -0.7600900530815125, -0.0007998647633939981, 0.0007998647633939981, 0.691042959690094, -0.7665750980377197, 1.6004806756973267, -1.5444037914276123, 1.5230411291122437, 0.6967650651931763, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.6799801588058472, 1.3784618377685547, 1.7515449523925781, -1.346036434173584, -0.7593270540237427, -0.0007998647633939981, 0.0007998647633939981, 0.6456473469734192, -0.7749675512313843, 1.5310521125793457, -1.5432593822479248, 1.4570459127426147, 0.6841763854026794, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7406347990036011, -0.7120240926742554, 1.3174258470535278, 1.7511634826660156, -1.2922483682632446, -0.7558938264846802, -0.0007998647633939981, 0.0007998647633939981, 0.6006332635879517, -0.7986190319061279, 1.4631494283676147, -1.5428777933120728, 1.3914320468902588, 0.6734950542449951, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6853207945823669, -0.7658121585845947, 1.2716487646102905, 1.7511634826660156, -1.2457083463668823, -0.7558938264846802, -0.0007998647633939981, 0.0007998647633939981, 0.5590524077415466, -0.840199887752533, 1.405165195465088, -1.5428777933120728, 1.3330663442611694, 0.6692988276481628, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6326771974563599, -0.8443961143493652, 1.2415121793746948, 1.7511634826660156, -1.2094682455062866, -0.7608529925346375, -0.0007998647633939981, 0.0007998647633939981, 0.5201418995857239, -0.8951323628425598, 1.354810357093811, -1.5428777933120728, 1.2781338691711426, 0.6666285395622253, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5834668278694153, -0.9287022352218628, 1.2201495170593262, 1.7507820129394531, -1.1575875282287598, -0.768482506275177, -0.0007998647633939981, 0.0007998647633939981, 0.482375830411911, -0.9576943516731262, 1.3071259260177612, -1.5421148538589478, 1.2117570638656616, 0.6666285395622253, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5453193187713623, -1.0130083560943604, 1.206416368484497, 1.7507820129394531, -1.0881589651107788, -0.7749675512313843, -0.0007998647633939981, 0.0007998647633939981, 0.44613564014434814, -1.029411792755127, 1.264019250869751, -1.5424963235855103, 1.1339360475540161, 0.6670100092887878, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5159456729888916, -1.0973143577575684, 1.198405385017395, 1.7469673156738281, -1.0141527652740479, -0.778019368648529, -0.0007998647633939981, 0.0007998647633939981, 0.41409170627593994, -1.1057069301605225, 1.2243458032608032, -1.5428777933120728, 1.040474534034729, 0.6708247661590576, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4842832088470459, -1.180857539176941, 1.195353627204895, 1.71644926071167, -0.9328984618186951, -0.7654306888580322, -0.0007998647633939981, 0.0007998647633939981, 0.3896772861480713, -1.1854352951049805, 1.1949721574783325, -1.5447852611541748, 0.9355688095092773, 0.6780728101730347, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4488059878349304, -1.261348843574524, 1.1957350969314575, 1.6634241342544556, -0.8424887657165527, -0.7379644513130188, -0.0007998647633939981, 0.0007998647633939981, 0.3744182586669922, -1.2651636600494385, 1.1781872510910034, -1.5451667308807373, 0.8295185565948486, 0.6841763854026794, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4190509021282196, -1.3391698598861694, 1.2106126546859741, 1.6260395050048828, -0.7639048099517822, -0.725375771522522, -0.0007998647633939981, 0.0007998647633939981, 0.36640727519989014, -1.3426032066345215, 1.1717021465301514, -1.5451667308807373, 0.726138710975647, 0.691042959690094, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39692530035972595, -1.4166094064712524, 1.2426565885543823, 1.6042953729629517, -0.7169833183288574, -0.7169833183288574, -0.0007998647633939981, 0.0007998647633939981, 0.3614480793476105, -1.4192798137664795, 1.182383418083191, -1.5451667308807373, 0.6364919543266296, 0.700579822063446, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.38014039397239685, -1.491378664970398, 1.28385591506958, 1.591325283050537, -0.6868467330932617, -0.7097352743148804, -0.0007998647633939981, 0.0007998647633939981, 0.3576333224773407, -1.494430422782898, 1.2087053060531616, -1.5447852611541748, 0.576218843460083, 0.7185091972351074, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3706035017967224, -1.5566109418869019, 1.3212405443191528, 1.5852216482162476, -0.6731135845184326, -0.7051575779914856, -0.0007998647633939981, 0.0007998647633939981, 0.3557259440422058, -1.560044288635254, 1.2335011959075928, -1.5447852611541748, 0.533875048160553, 0.733386754989624, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36259251832962036, -1.6226062774658203, 1.361295461654663, 1.581406831741333, -0.6624323129653931, -0.7024872303009033, -0.0007998647633939981, 0.0007998647633939981, 0.3545815348625183, -1.6103990077972412, 1.2525749206542969, -1.5447852611541748, 0.49153125286102295, 0.7490272521972656, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3553444743156433, -1.6870756149291992, 1.4032578468322754, 1.576829195022583, -0.657473087310791, -0.7013428211212158, -0.0007998647633939981, 0.0007998647633939981, 0.3526741564273834, -1.6474021673202515, 1.2682154178619385, -1.5444037914276123, 0.4552910625934601, 0.7658121585845947, -0.0009491034434176981, 0.0009491034434176981], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34962233901023865, -1.740482211112976, 1.4433127641677856, 1.574540376663208, -0.655184268951416, -0.7021057605743408, -0.0007998647633939981, 0.0007998647633939981, 0.34885939955711365, -1.6794461011886597, 1.2850003242492676, -1.5440223217010498, 0.42515450716018677, 0.7837415337562561, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34580758213996887, -1.7828259468078613, 1.4791713953018188, 1.5749218463897705, -0.6528953909873962, -0.7028687000274658, -0.0007998647633939981, 0.0007998647633939981, 0.34504464268684387, -1.7099641561508179, 1.3033112287521362, -1.5421148538589478, 0.4060807228088379, 0.7951858043670654, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.343137264251709, -1.813725471496582, 1.508926510810852, 1.574540376663208, -0.6521324515342712, -0.7059205174446106, -0.0007998647633939981, 0.0007998647633939981, 0.3419928252696991, -1.7385748624801636, 1.3246738910675049, -1.5421148538589478, 0.39768826961517334, 0.802815318107605, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3404669165611267, -1.8381398916244507, 1.5383001565933228, 1.574540376663208, -0.6498435735702515, -0.7104982137680054, -0.0007998647633939981, 0.0007998647633939981, 0.3397039771080017, -1.7648966312408447, 1.3490883111953735, -1.5421148538589478, 0.3900587558746338, 0.8127336502075195, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33550775051116943, -1.8591210842132568, 1.563096046447754, 1.574158787727356, -0.6498435735702515, -0.7135500311851501, -0.0007998647633939981, 0.0007998647633939981, 0.3381780683994293, -1.7866407632827759, 1.3715953826904297, -1.5421148538589478, 0.3850995600223541, 0.8184558153152466, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.32978561520576477, -1.878194808959961, 1.58255136013031, 1.574158787727356, -0.6490806341171265, -0.7227054238319397, -0.0007998647633939981, 0.0007998647633939981, 0.3374151289463043, -1.804951548576355, 1.3925764560699463, -1.5421148538589478, 0.3843366205692291, 0.8276112079620361, -0.0009452335652895272, 0.0009452335652895272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3244449496269226, -1.891165018081665, 1.591325283050537, 1.5737773180007935, -0.6368734240531921, -0.7345311641693115, -0.0008150124340318143, 0.0008150124340318143, 0.3374151289463043, -1.820210576057434, 1.408979892730713, -1.5421148538589478, 0.3839551508426666, 0.8398184180259705, -0.0012216961476951838, 0.0012216961476951838], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.32101166248321533, -1.8995574712753296, 1.592088222503662, 1.575303316116333, -0.620851457118988, -0.7566567659378052, -0.006637044716626406, 0.006637044716626406, 0.33627068996429443, -1.8331807851791382, 1.4208056926727295, -1.5440223217010498, 0.38281071186065674, 0.8592736721038818, -0.007507458329200745, 0.007507458329200745], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.31719690561294556, -1.9033722877502441, 1.5890363454818726, 1.5749218463897705, -0.5899519324302673, -0.7852674126625061, -0.015168530866503716, 0.015168530866503716, 0.33360037207603455, -1.8415732383728027, 1.4318684339523315, -1.5451667308807373, 0.36602577567100525, 0.8878843188285828, -0.017967823892831802, 0.017967823892831802], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.308804452419281, -1.8949798345565796, 1.5867475271224976, 1.574158787727356, -0.5468451976776123, -0.8268482685089111, -0.023149240761995316, 0.023149240761995316, 0.3255893886089325, -1.8450064659118652, 1.4509422779083252, -1.5447852611541748, 0.35152971744537354, 0.9363317489624023, -0.020053941756486893, 0.020053941756486893], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28896772861480713, -1.8583581447601318, 1.5779736042022705, 1.5749218463897705, -0.5029755234718323, -0.8886472582817078, -0.02355668507516384, 0.02355668507516384, 0.3110933005809784, -1.823262333869934, 1.4620050191879272, -1.5447852611541748, 0.3385595381259918, 1.0088120698928833, -0.01981612853705883, 0.01981612853705883], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.26913100481033325, -1.7793927192687988, 1.5196079015731812, 1.575303316116333, -0.4846646785736084, -0.959983229637146, -0.008003132417798042, 0.008003132417798042, 0.308041512966156, -1.7565041780471802, 1.424238920211792, -1.5440223217010498, 0.33360037207603455, 1.0648889541625977, -0.003382341703400016, 0.003382341703400016], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2630273997783661, -1.661516785621643, 1.4101243019104004, 1.5749218463897705, -0.4674982726573944, -1.0282673835754395, -3.757924059755169e-05, 3.757924059755169e-05, 0.31414511799812317, -1.6504539251327515, 1.3323034048080444, -1.5424963235855103, 0.3255893886089325, 1.0942625999450684, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2744716703891754, -1.5299077033996582, 1.267833948135376, 1.5749218463897705, -0.46101319789886475, -1.11295485496521, -3.426579860388301e-05, 3.426579860388301e-05, 0.33665215969085693, -1.5142672061920166, 1.1999313831329346, -1.5424963235855103, 0.31681543588638306, 1.10837721824646, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.31567102670669556, -1.3914320468902588, 1.1247806549072266, 1.574540376663208, -0.4648279547691345, -1.2006943225860596, -3.426579860388301e-05, 3.426579860388301e-05, 0.3755626678466797, -1.3654917478561401, 1.0618371963500977, -1.5417333841323853, 0.3278782367706299, 1.1350804567337036, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36907759308815, -1.256008267402649, 0.995078980922699, 1.565384864807129, -0.5140383243560791, -1.2674524784088135, -3.426579860388301e-05, 3.426579860388301e-05, 0.4194323718547821, -1.2232013940811157, 0.9332799315452576, -1.5424963235855103, 0.38204777240753174, 1.1854352951049805, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3858625292778015, -1.126688003540039, 0.8791103959083557, 1.439497947692871, -0.5937666893005371, -1.2388418912887573, -3.426579860388301e-05, 3.426579860388301e-05, 0.4713130295276642, -1.0858701467514038, 0.8207446336746216, -1.5417333841323853, 0.4499503970146179, 1.2460898160934448, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36755168437957764, -1.024452567100525, 0.7825970649719238, 1.2487602233886719, -0.7070649266242981, -1.1476691961288452, -3.426579860388301e-05, 3.426579860388301e-05, 0.5079346895217896, -0.9756237268447876, 0.7455939650535583, -1.5306706428527832, 0.5701152086257935, 1.3006408214569092, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.369840532541275, -0.9481574892997742, 0.7108796834945679, 1.1484321355819702, -0.8112077713012695, -1.121347427368164, -3.426579860388301e-05, 3.426579860388301e-05, 0.5056458115577698, -0.8901731967926025, 0.6845578551292419, -1.4085984230041504, 0.734149694442749, 1.272793173789978, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3923476040363312, -0.8951323628425598, 0.6528953909873962, 1.1057069301605225, -0.8741512298583984, -1.1385138034820557, -3.426579860388301e-05, 3.426579860388301e-05, 0.49114975333213806, -0.8367666006088257, 0.6376363635063171, -1.3029297590255737, 0.8829251527786255, 1.2460898160934448, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43163958191871643, -0.8707179427146912, 0.6109330654144287, 1.0824369192123413, -0.8985656499862671, -1.1835278272628784, -3.426579860388301e-05, 3.426579860388301e-05, 0.4873350262641907, -0.8199816942214966, 0.6036850810050964, -1.2354085445404053, 1.0000381469726562, 1.2464714050292969, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49114975333213806, -0.8703364729881287, 0.5857557058334351, 1.0790035724639893, -0.8989471197128296, -1.2403677701950073, -3.426579860388301e-05, 3.426579860388301e-05, 0.49191272258758545, -0.8283741474151611, 0.5819409489631653, -1.2022202014923096, 1.0675593614578247, 1.265545129776001, -0.0008644924964755774, 0.0008644924964755774], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5746929049491882, -0.8859769701957703, 0.5754558444023132, 1.1636911630630493, -0.8901731967926025, -1.357480764389038, -3.426579860388301e-05, 3.426579860388301e-05, 0.5106050372123718, -0.8535515666007996, 0.5750743746757507, -1.177805781364441, 1.10990309715271, 1.2731746435165405, -0.004663780331611633, 0.004663780331611633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6235218048095703, -0.8970397710800171, 0.5678263306617737, 1.2140458822250366, -0.8691920638084412, -1.439497947692871, -9.422883886145428e-05, 9.422883886145428e-05, 0.5266270041465759, -0.889028787612915, 0.579270601272583, -1.1686503887176514, 1.1247806549072266, 1.273556113243103, -0.008024986833333969, 0.008024986833333969], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6517509818077087, -0.9023804068565369, 0.5609598159790039, 1.2251087427139282, -0.8512626886367798, -1.484130620956421, -0.008208087645471096, 0.008208087645471096, 0.5380712747573853, -0.9317540526390076, 0.5945296287536621, -1.1575875282287598, 1.1301213502883911, 1.264019250869751, -0.014098568819463253, 0.014098568819463253], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6654840707778931, -0.9027618765830994, 0.5540932416915894, 1.2327382564544678, -0.8371480703353882, -1.516937494277954, -0.011334569193422794, 0.011334569193422794, 0.541886031627655, -0.9725719094276428, 0.6132219433784485, -1.1537728309631348, 1.1369879245758057, 1.2453268766403198, -0.01637626625597477, 0.01637626625597477], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6784542798995972, -0.9027618765830994, 0.5476081371307373, 1.2384604215621948, -0.8264667987823486, -1.5432593822479248, -0.015486731193959713, 0.015486731193959713, 0.5373083353042603, -1.0042344331741333, 0.6277180314064026, -1.1503394842147827, 1.1469062566757202, 1.2228199243545532, -0.018016565591096878, 0.018016565591096878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6994354128837585, -0.9004730582237244, 0.5407415628433228, 1.2392233610153198, -0.8180742859840393, -1.5691996812820435, -0.017365766689181328, 0.017365766689181328, 0.5300602912902832, -1.0233081579208374, 0.6357290148735046, -1.1511024236679077, 1.1514838933944702, 1.189631462097168, -0.018143413588404655, 0.018143413588404655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7230868935585022, -0.8958953022956848, 0.535400927066803, 1.2403677701950073, -0.810826301574707, -1.5939955711364746, -0.017656533047556877, 0.017656533047556877, 0.5270084738731384, -1.0351338386535645, 0.6399252414703369, -1.1480506658554077, 1.1511024236679077, 1.1434729099273682, -0.018143413588404655, 0.018143413588404655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7387273907661438, -0.8951323628425598, 0.5327305793762207, 1.2403677701950073, -0.805867075920105, -1.6145952939987183, -0.017656533047556877, 0.017656533047556877, 0.5228122472763062, -1.0442893505096436, 0.6437399983406067, -1.1476691961288452, 1.1446174383163452, 1.1022735834121704, -0.018143413588404655, 0.018143413588404655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7475013136863708, -0.8966583013534546, 0.5315861701965332, 1.2457083463668823, -0.7955672740936279, -1.6309987306594849, -0.017220795154571533, 0.017220795154571533, 0.5189974904060364, -1.0530632734298706, 0.6464102864265442, -1.1427099704742432, 1.1404211521148682, 1.0622186660766602, -0.01908515766263008, 0.01908515766263008], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7581826448440552, -0.8981841802597046, 0.5292973518371582, 1.2441824674606323, -0.7875562906265259, -1.6474021673202515, -0.01702794060111046, 0.01702794060111046, 0.5071717500686646, -1.0606927871704102, 0.6483176946640015, -1.114099383354187, 1.1362248659133911, 1.02216374874115, -0.01918371208012104, 0.01918371208012104], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.8981841802597046, 0.5289158225059509, 1.280041217803955, -0.7799267768859863, -1.6924163103103638, -0.01706647127866745, 0.01706647127866745, 0.4987792670726776, -1.0687037706375122, 0.650225043296814, -1.0950255393981934, 1.1324101686477661, 0.9912642240524292, -0.020868519321084023, 0.020868519321084023], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8077744841575623, -0.8985656499862671, 0.5304417610168457, 1.3426032066345215, -0.7761120200157166, -1.7622263431549072, -0.018456386402249336, 0.018456386402249336, 0.49420157074928284, -1.0839627981185913, 0.6506065726280212, -1.0816738605499268, 1.1331731081008911, 0.9660868048667908, -0.020938169211149216, 0.020938169211149216], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, -0.9027618765830994, 0.5350194573402405, 1.3853284120559692, -0.7730602025985718, -1.806477427482605, -0.018534783273935318, 0.018534783273935318, 0.49191272258758545, -1.104180932044983, 0.6548027992248535, -1.0763332843780518, 1.1327916383743286, 0.9470130205154419, -0.020938169211149216, 0.020938169211149216], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8337147831916809, -0.9122987985610962, 0.5403600931167603, 1.405928134918213, -0.7730602025985718, -1.8308918476104736, -0.018534783273935318, 0.018534783273935318, 0.49191272258758545, -1.1247806549072266, 0.6605249047279358, -1.0721369981765747, 1.1324101686477661, 0.9298466444015503, -0.020938169211149216, 0.020938169211149216], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.9237430095672607, 0.5460822582244873, 1.4185168743133545, -0.7730602025985718, -1.8492027521133423, -0.018534783273935318, 0.018534783273935318, 0.49191272258758545, -1.1415655612945557, 0.6651026010513306, -1.0687037706375122, 1.1316472291946411, 0.9142061471939087, -0.020928218960762024, 0.020928218960762024], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -0.9359502792358398, 0.5529488325119019, 1.426909327507019, -0.7722972631454468, -1.8572137355804443, -0.018534783273935318, 0.018534783273935318, 0.49191272258758545, -1.1537728309631348, 0.6673914790153503, -1.051918864250183, 1.1247806549072266, 0.8974212408065796, -0.02090831659734249, 0.02090831659734249], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -0.951209306716919, 0.5617227554321289, 1.429961085319519, -0.7715343236923218, -1.8675135374069214, -0.018534783273935318, 0.018534783273935318, 0.49343863129615784, -1.1614023447036743, 0.6681544184684753, -1.0423818826675415, 1.118677020072937, 0.8894102573394775, -0.02081877738237381, 0.02081877738237381], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -0.9691386222839355, 0.569733738899231, 1.4333943128585815, -0.7715343236923218, -1.8755245208740234, -0.018534783273935318, 0.018534783273935318, 0.49382010102272034, -1.1655985116958618, 0.6685358881950378, -1.037422776222229, 1.113336443901062, 0.884069561958313, -0.020649712532758713, 0.020649712532758713], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -0.9832532405853271, 0.5746929049491882, 1.434157371520996, -0.7715343236923218, -1.882391095161438, -0.018534783273935318, 0.018534783273935318, 0.49382010102272034, -1.1686503887176514, 0.6689173579216003, -1.034752368927002, 1.1072328090667725, 0.8813992738723755, -0.02059006504714489, 0.02059006504714489], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -0.9931715726852417, 0.577744722366333, 1.434920310974121, -0.770771324634552, -1.8907835483551025, -0.018534783273935318, 0.018534783273935318, 0.49382010102272034, -1.1701762676239014, 0.6708247661590576, -1.031700611114502, 1.098077416419983, 0.8783474564552307, -0.02029205486178398, 0.02029205486178398], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -1.0004196166992188, 0.579270601272583, 1.437209129333496, -0.7703898549079895, -1.9003204107284546, -0.018475979566574097, 0.018475979566574097, 0.4953460097312927, -1.1717021465301514, 0.6723506450653076, -1.031700611114502, 1.0919737815856934, 0.8764400482177734, -0.019558876752853394, 0.019558876752853394], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -1.0046159029006958, 0.580033540725708, 1.437209129333496, -0.7703898549079895, -1.9064240455627441, -0.017385121434926987, 0.017385121434926987, 0.4980163276195526, -1.1728465557098389, 0.6738765835762024, -1.0305562019348145, 1.0831998586654663, 0.8745326995849609, -0.019035911187529564, 0.019035911187529564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8398184180259705, -1.0095750093460083, 0.5811780095100403, 1.4368276596069336, -0.7703898549079895, -1.9125276803970337, -0.01702794060111046, 0.01702794060111046, 0.4999237060546875, -1.1743724346160889, 0.6750209927558899, -1.029411792755127, 1.0763332843780518, 0.8707179427146912, -0.01773424819111824, 0.01773424819111824], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -1.0172045230865479, 0.5846112966537476, 1.437209129333496, -0.770008385181427, -1.9193942546844482, -0.015599503181874752, 0.015599503181874752, 0.5006866455078125, -1.177042841911316, 0.6769283413887024, -1.0290303230285645, 1.0667964220046997, 0.8680475950241089, -0.016242913901805878, 0.016242913901805878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -1.028648853302002, 0.5872815847396851, 1.437209129333496, -0.7696269154548645, -1.9235904216766357, -0.015430434606969357, 0.015430434606969357, 0.5022125840187073, -1.180094599723816, 0.6792172193527222, -1.0282673835754395, 1.0633630752563477, 0.8672846555709839, -0.013735619373619556, 0.013735619373619556], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -1.0416189432144165, 0.5895704627037048, 1.437209129333496, -0.7696269154548645, -1.9274052381515503, -0.013304411433637142, 0.013304411433637142, 0.5071717500686646, -1.182383418083191, 0.6799801588058472, -1.028648853302002, 1.056496500968933, 0.8672846555709839, -0.010751987807452679, 0.010751987807452679], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.841725766658783, -1.0488669872283936, 0.5914778113365173, 1.437209129333496, -0.7696269154548645, -1.9312199354171753, -0.009397509507834911, 0.009397509507834911, 0.5151827335357666, -1.1835278272628784, 0.6803616285324097, -1.028648853302002, 1.0496299266815186, 0.8669031858444214, -0.0066707259975373745, 0.0066707259975373745], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8436331748962402, -1.0530632734298706, 0.5933852195739746, 1.437209129333496, -0.769245445728302, -1.9346532821655273, -0.003211897797882557, 0.003211897797882557, 0.5228122472763062, -1.184290885925293, 0.6803616285324097, -1.028648853302002, 1.0423818826675415, 0.8669031858444214, -0.002496865810826421, 0.002496865810826421], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -1.0553520917892456, 0.5941481590270996, 1.437209129333496, -0.7673380374908447, -1.9377050399780273, -0.0005587444175034761, 0.0005587444175034761, 0.5266270041465759, -1.184290885925293, 0.6803616285324097, -1.028648853302002, 1.036659836769104, 0.8669031858444214, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8443961143493652, -1.0561150312423706, 0.5941481590270996, 1.437209129333496, -0.7665750980377197, -1.9380865097045898, -0.0005587444175034761, 0.0005587444175034761, 0.5285343527793884, -1.184290885925293, 0.6811245679855347, -1.028648853302002, 1.0320820808410645, 0.8672846555709839, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -1.0488669872283936, 0.5941481590270996, 1.437209129333496, -0.7669565677642822, -1.9384679794311523, -0.0005587444175034761, 0.0005587444175034761, 0.5289158225059509, -1.181620478630066, 0.6864652633666992, -1.029411792755127, 1.0343708992004395, 0.8684290647506714, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -1.0194933414459229, 0.5914778113365173, 1.4368276596069336, -0.768482506275177, -1.9380865097045898, -0.0005587444175034761, 0.0005587444175034761, 0.5197604298591614, -1.1705577373504639, 0.6960021257400513, -1.0290303230285645, 1.0618371963500977, 0.8752956390380859, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8485923409461975, -0.962272047996521, 0.5888075232505798, 1.437209129333496, -0.7791637778282166, -1.9373235702514648, -0.0005587444175034761, 0.0005587444175034761, 0.4953460097312927, -1.1495765447616577, 0.7101167440414429, -1.0297932624816895, 1.1144808530807495, 0.8932250142097473, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.839436948299408, -0.8981841802597046, 0.5869001150131226, 1.4368276596069336, -0.8020523190498352, -1.9285496473312378, -0.0005587444175034761, 0.0005587444175034761, 0.46063172817230225, -1.125162124633789, 0.7234683632850647, -1.030937671661377, 1.1781872510910034, 0.9142061471939087, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8134965896606445, -0.8299000263214111, 0.5857557058334351, 1.437209129333496, -0.8424887657165527, -1.9140535593032837, -0.0005587444175034761, 0.0005587444175034761, 0.41523614525794983, -1.101892113685608, 0.7394903302192688, -1.030937671661377, 1.2602044343948364, 0.9317540526390076, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7761120200157166, -0.7658121585845947, 0.5857557058334351, 1.4337759017944336, -0.8882657885551453, -1.894216775894165, -0.0005587444175034761, 0.0005587444175034761, 0.3740367889404297, -1.0839627981185913, 0.7547493577003479, -1.0313191413879395, 1.3464179039001465, 0.9397650361061096, -0.0004043755179736763, 0.0004043755179736763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.7181277275085449, 0.5807965397834778, 1.344510555267334, -0.9275577664375305, -1.80266273021698, -0.0005587444175034761, 0.0005587444175034761, 0.344663143157959, -1.0740443468093872, 0.7646677494049072, -1.030937671661377, 1.409742832183838, 0.9431982636451721, -0.0004043755179736763, 0.0004043755179736763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.614366352558136, -0.692568838596344, 0.5640115737915039, 1.1987868547439575, -0.9653238654136658, -1.6729609966278076, -0.0005587444175034761, 0.0005587444175034761, 0.3217746317386627, -1.0690852403640747, 0.7688639760017395, -1.0313191413879395, 1.4543755054473877, 0.9473945498466492, -0.0004043755179736763, 0.0004043755179736763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5598153471946716, -0.6815060377120972, 0.5430304408073425, 1.102655053138733, -0.9962233901023865, -1.587891936302185, -0.0005587444175034761, 0.0005587444175034761, 0.30041199922561646, -1.0664149522781372, 0.7669565677642822, -1.0313191413879395, 1.4822232723236084, 0.9596017599105835, -0.0004043755179736763, 0.0004043755179736763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5239566564559937, -0.6754024624824524, 0.5235751867294312, 1.049248456954956, -1.027885913848877, -1.5402075052261353, -0.0005587444175034761, 0.0005587444175034761, 0.2794308364391327, -1.0652704238891602, 0.7570382356643677, -1.0313191413879395, 1.4967193603515625, 0.970283031463623, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.501068115234375, -0.6723506450653076, 0.5113679766654968, 1.0168230533599854, -1.0656518936157227, -1.5157930850982666, -0.0005587444175034761, 0.0005587444175034761, 0.2595941126346588, -1.0648889541625977, 0.7459754347801208, -1.031700611114502, 1.5020599365234375, 0.9813458323478699, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.48962387442588806, -0.6708247661590576, 0.5052643418312073, 0.9985122680664062, -1.1022735834121704, -1.510452389717102, -0.0005587444175034761, 0.0005587444175034761, 0.24891279637813568, -1.0648889541625977, 0.7372015118598938, -1.0313191413879395, 1.4997711181640625, 0.9855420589447021, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4842832088470459, -0.6700618267059326, 0.499542236328125, 0.9878309369087219, -1.1373693943023682, -1.5108338594436646, -0.0005587444175034761, 0.0005587444175034761, 0.24242770671844482, -1.0648889541625977, 0.7288090586662292, -1.030937671661377, 1.485656499862671, 0.9924086332321167, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4797055125236511, -0.6696802973747253, 0.49305713176727295, 0.9832532405853271, -1.1675058603286743, -1.5150301456451416, -0.0005587444175034761, 0.0005587444175034761, 0.23899443447589874, -1.0648889541625977, 0.7188906669616699, -1.0313191413879395, 1.4650568962097168, 0.9996566772460938, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47627222537994385, -0.6696802973747253, 0.4888609051704407, 0.9767681360244751, -1.2045090198516846, -1.5226596593856812, -0.0005587444175034761, 0.0005587444175034761, 0.23708705604076385, -1.0648889541625977, 0.7082093358039856, -1.0313191413879395, 1.4528496265411377, 1.0042344331741333, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4736018776893616, -0.6696802973747253, 0.481612890958786, 0.9763866662979126, -1.2350270748138428, -1.5264743566513062, -0.0005587444175034761, 0.0005587444175034761, 0.23403525352478027, -1.0648889541625977, 0.6944762468338013, -1.0313191413879395, 1.4417868852615356, 1.0069047212600708, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.45986875891685486, -0.6742580533027649, 0.4705500900745392, 0.9740977883338928, -1.262493371963501, -1.5295262336730957, -0.0005587444175034761, 0.0005587444175034761, 0.23212787508964539, -1.0648889541625977, 0.6792172193527222, -1.0313191413879395, 1.4353017807006836, 1.0076676607131958, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44270238280296326, -0.6868467330932617, 0.45872434973716736, 0.9748607873916626, -1.28233003616333, -1.5280003547668457, -0.0005587444175034761, 0.0005587444175034761, 0.2298390120267868, -1.0648889541625977, 0.6635767221450806, -1.030937671661377, 1.4311054944992065, 1.0080491304397583, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4350728690624237, -0.7093538045883179, 0.44689860939979553, 0.9729533791542053, -1.2956817150115967, -1.5203708410263062, -0.0005587444175034761, 0.0005587444175034761, 0.2286945879459381, -1.0645074844360352, 0.6456473469734192, -1.030937671661377, 1.422713041305542, 1.0118639469146729, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42896926403045654, -0.7398717999458313, 0.4350728690624237, 0.9733348488807678, -1.3036926984786987, -1.5127413272857666, -0.0005587444175034761, 0.0005587444175034761, 0.22793163359165192, -1.0648889541625977, 0.6273365616798401, -1.0313191413879395, 1.41775381565094, 1.0118639469146729, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42591744661331177, -0.7658121585845947, 0.42782482504844666, 0.9729533791542053, -1.3063629865646362, -1.505874752998352, -0.0005587444175034761, 0.0005587444175034761, 0.22793163359165192, -1.0645074844360352, 0.613603413105011, -1.0313191413879395, 1.4120317697525024, 1.0114823579788208, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4240100681781769, -0.7818341255187988, 0.4205767810344696, 0.9729533791542053, -1.3063629865646362, -1.4982452392578125, -0.0005587444175034761, 0.0005587444175034761, 0.22793163359165192, -1.0645074844360352, 0.6040665507316589, -1.030937671661377, 1.402876377105713, 1.0111008882522583, -0.0008378018392249942, 0.0008378018392249942], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4236285984516144, -0.7902265787124634, 0.41256579756736755, 0.9733348488807678, -1.3059815168380737, -1.495193362236023, -0.0005587444175034761, 0.0005587444175034761, 0.22793163359165192, -1.0645074844360352, 0.5956740379333496, -1.030937671661377, 1.3899061679840088, 1.0111008882522583, -0.0013559911167249084, 0.0013559911167249084], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.422102689743042, -0.7944228053092957, 0.4037918746471405, 0.9737163186073303, -1.3056000471115112, -1.494430422782898, -0.0005587444175034761, 0.0005587444175034761, 0.22793163359165192, -1.0645074844360352, 0.5869001150131226, -1.0313191413879395, 1.3788433074951172, 1.0111008882522583, -0.0017181484727188945, 0.0017181484727188945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4186694025993347, -0.7967116832733154, 0.39806973934173584, 0.9733348488807678, -1.3014038801193237, -1.4909971952438354, -0.001225727959536016, 0.001225727959536016, 0.22793163359165192, -1.0645074844360352, 0.576981782913208, -1.030937671661377, 1.3712139129638672, 1.0107194185256958, -0.00291434139944613, 0.00291434139944613], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4076066315174103, -0.7963302135467529, 0.39692530035972595, 0.9737163186073303, -1.2972075939178467, -1.485656499862671, -0.012842811644077301, 0.012842811644077301, 0.22793163359165192, -1.0645074844360352, 0.5701152086257935, -1.0313191413879395, 1.3643473386764526, 1.0099564790725708, -0.014584317803382874, 0.014584317803382874], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3778515160083771, -0.7799267768859863, 0.41103988885879517, 0.9756237268447876, -1.2968261241912842, -1.4688715934753418, -0.020739203318953514, 0.020739203318953514, 0.22487983107566833, -1.0622186660766602, 0.577744722366333, -1.036659836769104, 1.358243703842163, 1.0034713745117188, -0.016682134941220284, 0.016682134941220284], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33321890234947205, -0.7303349375724792, 0.46025025844573975, 0.9744792580604553, -1.2953002452850342, -1.4436942338943481, -0.017889894545078278, 0.017889894545078278, 0.20885786414146423, -1.041237473487854, 0.6197070479393005, -1.0934996604919434, 1.3464179039001465, 1.0191118717193604, -0.010587809607386589, 0.010587809607386589], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2790493667125702, -0.6700618267059326, 0.5277714133262634, 0.9729533791542053, -1.264782190322876, -1.3952468633651733, -0.0006911216187290847, 0.0006911216187290847, 0.18902114033699036, -1.0030899047851562, 0.6857023239135742, -1.1419470310211182, 1.3048371076583862, 1.0416189432144165, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6372548937797546, 0.5739299654960632, 0.9721904397010803, -1.190394401550293, -1.339932918548584, -7.833624295017216e-06, 7.833624295017216e-06, 0.1974135935306549, -0.9691386222839355, 0.7520790696144104, -1.1717021465301514, 1.2224383354187012, 1.045433759689331, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20160982012748718, -0.650225043296814, 0.6033035516738892, 0.9729533791542053, -1.1045624017715454, -1.2762264013290405, -7.833624295017216e-06, 7.833624295017216e-06, 0.22564278542995453, -0.960746169090271, 0.8127336502075195, -1.186579704284668, 1.114099383354187, 1.0393301248550415, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1802472025156021, -0.7078278660774231, 0.6357290148735046, 0.9729533791542053, -1.0202564001083374, -1.2079423666000366, -4.539007932180539e-06, 4.539007932180539e-06, 0.25654229521751404, -0.9863049983978271, 0.8752956390380859, -1.1957350969314575, 0.9985122680664062, 1.0084306001663208, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1665140837430954, -0.8016708493232727, 0.6952391862869263, 0.9733348488807678, -0.9573128819465637, -1.1373693943023682, -7.833624295017216e-06, 7.833624295017216e-06, 0.2782863974571228, -1.046196699142456, 0.9451056718826294, -1.2022202014923096, 0.8886472582817078, 0.9790570139884949, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16231784224510193, -0.9233615398406982, 0.7825970649719238, 1.0122454166412354, -0.9206912517547607, -1.1064698696136475, -7.833624295017216e-06, 7.833624295017216e-06, 0.28782328963279724, -1.1373693943023682, 1.0290303230285645, -1.206416368484497, 0.7990005612373352, 0.9649423956871033, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1802472025156021, -1.054970622062683, 0.8844510316848755, 1.1224918365478516, -0.9039062857627869, -1.122110366821289, -7.833624295017216e-06, 7.833624295017216e-06, 0.2943083941936493, -1.259060025215149, 1.1408026218414307, -1.2083238363265991, 0.7673380374908447, 0.9603646993637085, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18825818598270416, -1.184290885925293, 0.9939345121383667, 1.1564431190490723, -0.9042877554893494, -1.0851072072982788, -7.833624295017216e-06, 7.833624295017216e-06, 0.2935454249382019, -1.4070725440979004, 1.2899595499038696, -1.2090867757797241, 0.8306630253791809, 0.9416723847389221, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1665140837430954, -1.3059815168380737, 1.1079957485198975, 1.0965514183044434, -0.952735185623169, -0.9992752075195312, -4.539007932180539e-06, 4.539007932180539e-06, 0.28896772861480713, -1.5535591840744019, 1.4425498247146606, -1.2102311849594116, 0.9378576278686523, 0.918402373790741, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1497291475534439, -1.4246203899383545, 1.2266346216201782, 1.0320820808410645, -1.0217822790145874, -0.9058136940002441, -7.833624295017216e-06, 7.833624295017216e-06, 0.2817196846008301, -1.6790646314620972, 1.573395848274231, -1.2117570638656616, 1.0053788423538208, 0.9126802682876587, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14858472347259521, -1.5306706428527832, 1.3345922231674194, 1.0343708992004395, -1.0648889541625977, -0.8730067610740662, -0.001853077206760645, 0.001853077206760645, 0.2740901708602905, -1.7927442789077759, 1.6935607194900513, -1.2121385335922241, 1.0561150312423706, 0.9203097820281982, -0.00590760912746191, 0.00590760912746191], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1516365259885788, -1.6149767637252808, 1.421187162399292, 1.0629816055297852, -1.0877774953842163, -0.8581292629241943, -0.010645155794918537, 0.010645155794918537, 0.27180132269859314, -1.8938353061676025, 1.8076218366622925, -1.2117570638656616, 1.1110475063323975, 0.9237430095672607, -0.013853223994374275, 0.013853223994374275], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16155488789081573, -1.6824978590011597, 1.488326907157898, 1.0828183889389038, -1.1072328090667725, -0.8310444951057434, -0.017182184383273125, 0.017182184383273125, 0.27141985297203064, -1.97966730594635, 1.9094758033752441, -1.2113755941390991, 1.1621652841567993, 0.9225986003875732, -0.0174141563475132, 0.0174141563475132], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17147326469421387, -1.729800820350647, 1.5394445657730103, 1.0915923118591309, -1.112191915512085, -0.8024337887763977, -0.020450949668884277, 0.020450949668884277, 0.27027541399002075, -2.0487143993377686, 1.9975967407226562, -1.2113755941390991, 1.2052719593048096, 0.9096284508705139, -0.019529221579432487, 0.019529221579432487], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17948424816131592, -1.7732890844345093, 1.5901808738708496, 1.0984588861465454, -1.1190584897994995, -0.7722972631454468, -0.022004004567861557, 0.022004004567861557, 0.27027541399002075, -2.1032655239105225, 2.06893253326416, -1.2106126546859741, 1.2376973628997803, 0.8970397710800171, -0.021236823871731758, 0.021236823871731758], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19130998849868774, -1.804951548576355, 1.6252765655517578, 1.104180932044983, -1.120202898979187, -0.7303349375724792, -0.022004004567861557, 0.022004004567861557, 0.27027541399002075, -2.1421759128570557, 2.1162354946136475, -1.2094682455062866, 1.257534146308899, 0.8886472582817078, -0.02227306365966797, 0.02227306365966797], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20580606162548065, -1.8350881338119507, 1.655794620513916, 1.104180932044983, -1.122873306274414, -0.6826505064964294, -0.022004004567861557, 0.022004004567861557, 0.26989394426345825, -2.1646831035614014, 2.1421759128570557, -1.2109941244125366, 1.2689783573150635, 0.8760585784912109, -0.023367952555418015, 0.023367952555418015], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2145799994468689, -1.8675135374069214, 1.6901273727416992, 1.1053253412246704, -1.1232547760009766, -0.6513695120811462, -0.022013971582055092, 0.022013971582055092, 0.27141985297203064, -2.1776530742645264, 2.1559090614318848, -1.2109941244125366, 1.2754634618759155, 0.8665217161178589, -0.02409212291240692, 0.02409212291240692], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22220951318740845, -1.9003204107284546, 1.726749062538147, 1.10837721824646, -1.1232547760009766, -0.6303883194923401, -0.022283026948571205, 0.022283026948571205, 0.27180132269859314, -2.1837568283081055, 2.1627755165100098, -1.2098497152328491, 1.275081992149353, 0.8592736721038818, -0.024319669231772423, 0.024319669231772423], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22716869413852692, -1.9331272840499878, 1.7660410404205322, 1.107614278793335, -1.1240177154541016, -0.6139848828315735, -0.02310945838689804, 0.02310945838689804, 0.27180132269859314, -2.187952995300293, 2.166590452194214, -1.2106126546859741, 1.2739375829696655, 0.8520256280899048, -0.02477366290986538, 0.02477366290986538], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2298390120267868, -1.962882399559021, 1.8003737926483154, 1.1079957485198975, -1.125925064086914, -0.5971999764442444, -0.023179074749350548, 0.023179074749350548, 0.273708701133728, -2.1906232833862305, 2.167353391647339, -1.2106126546859741, 1.270504355430603, 0.84592205286026, -0.02477366290986538, 0.02477366290986538], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2294575423002243, -1.9861524105072021, 1.8236438035964966, 1.1079957485198975, -1.125925064086914, -0.5788891315460205, -0.023179074749350548, 0.023179074749350548, 0.273708701133728, -2.1921491622924805, 2.1677348613739014, -1.2098497152328491, 1.2674524784088135, 0.8375295400619507, -0.02477366290986538, 0.02477366290986538], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2290760725736618, -2.0040817260742188, 1.8381398916244507, 1.1079957485198975, -1.1255435943603516, -0.5651560425758362, -0.023179074749350548, 0.023179074749350548, 0.2748531401157379, -2.1936750411987305, 2.168116331100464, -1.2106126546859741, 1.2666895389556885, 0.8299000263214111, -0.02477366290986538, 0.02477366290986538], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2290760725736618, -2.017051935195923, 1.8461508750915527, 1.1079957485198975, -1.1255435943603516, -0.5510414242744446, -0.023179074749350548, 0.023179074749350548, 0.2782863974571228, -2.1952009201049805, 2.1669719219207764, -1.2109941244125366, 1.2651636600494385, 0.8249408602714539, -0.02477366290986538, 0.02477366290986538], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2286945879459381, -2.024681568145752, 1.8514915704727173, 1.1079957485198975, -1.122873306274414, -0.5357823967933655, -0.023179074749350548, 0.023179074749350548, 0.2817196846008301, -2.196345567703247, 2.1631569862365723, -1.2094682455062866, 1.2609673738479614, 0.8180742859840393, -0.024763811379671097, 0.024763811379671097], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22793163359165192, -2.030022144317627, 1.8556878566741943, 1.10837721824646, -1.122873306274414, -0.5209048390388489, -0.023179074749350548, 0.023179074749350548, 0.28362706303596497, -2.196345567703247, 2.1570534706115723, -1.2094682455062866, 1.259060025215149, 0.8146410584449768, -0.024753957986831665, 0.024753957986831665], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22793163359165192, -2.0334553718566895, 1.8591210842132568, 1.107614278793335, -1.122110366821289, -0.5094605684280396, -0.023179074749350548, 0.023179074749350548, 0.28744181990623474, -2.196345567703247, 2.1501870155334473, -1.2109941244125366, 1.2510490417480469, 0.8104447722434998, -0.024734249338507652, 0.024734249338507652], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22793163359165192, -2.0380330085754395, 1.8633173704147339, 1.1079957485198975, -1.122873306274414, -0.49458304047584534, -0.023179074749350548, 0.023179074749350548, 0.2904936373233795, -2.197108507156372, 2.143320322036743, -1.2106126546859741, 1.2426565885543823, 0.80510413646698, -0.024734249338507652, 0.024734249338507652], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2286945879459381, -2.0471885204315186, 1.8701838254928589, 1.10837721824646, -1.1224918365478516, -0.4839017391204834, -0.023179074749350548, 0.023179074749350548, 0.291638046503067, -2.197871446609497, 2.137216806411743, -1.2102311849594116, 1.2369344234466553, 0.7978560924530029, -0.02472439408302307, 0.02472439408302307], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2290760725736618, -2.0571069717407227, 1.878194808959961, 1.107614278793335, -1.122110366821289, -0.47703516483306885, -0.023169131949543953, 0.023169131949543953, 0.2935454249382019, -2.1982529163360596, 2.1330206394195557, -1.2109941244125366, 1.2300678491592407, 0.7902265787124634, -0.024072321131825447, 0.024072321131825447], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2302204966545105, -2.06740665435791, 1.882391095161438, 1.107614278793335, -1.122110366821289, -0.4732204079627991, -0.023149240761995316, 0.023149240761995316, 0.2946898639202118, -2.1982529163360596, 2.130350112915039, -1.2106126546859741, 1.2289234399795532, 0.7845044732093811, -0.023009974509477615, 0.023009974509477615], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2309834510087967, -2.0750362873077393, 1.885442852973938, 1.10685133934021, -1.1217288970947266, -0.4694056510925293, -0.021017789840698242, 0.021017789840698242, 0.2946898639202118, -2.197871446609497, 2.1269168853759766, -1.2094682455062866, 1.2232013940811157, 0.7806897163391113, -0.020709369331598282, 0.020709369331598282], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23289081454277039, -2.0784695148468018, 1.8869688510894775, 1.1045624017715454, -1.121347427368164, -0.4667353332042694, -0.014685802161693573, 0.014685802161693573, 0.2946898639202118, -2.1982529163360596, 2.122720718383789, -1.2098497152328491, 1.2220568656921387, 0.7776378989219666, -0.014053026214241982, 0.014053026214241982], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23517967760562897, -2.0807583332061768, 1.88735032081604, 1.103417992591858, -1.1224918365478516, -0.4667353332042694, -0.00518264714628458, 0.00518264714628458, 0.2946898639202118, -2.1982529163360596, 2.120431900024414, -1.2106126546859741, 1.2148088216781616, 0.777256429195404, -0.0071427845396101475, 0.0071427845396101475], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23517967760562897, -2.0807583332061768, 1.8884947299957275, 1.1015106439590454, -1.123636245727539, -0.4671168029308319, -0.0013354785041883588, 0.0013354785041883588, 0.2946898639202118, -2.1974899768829346, 2.1192874908447266, -1.2106126546859741, 1.2006943225860596, 0.7776378989219666, -0.0009297768119722605, 0.0009297768119722605], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23670557141304016, -2.0811398029327393, 1.895361304283142, 1.112191915512085, -1.123636245727539, -0.4678797721862793, -0.0013354785041883588, 0.0013354785041883588, 0.2946898639202118, -2.194056510925293, 2.118906021118164, -1.2102311849594116, 1.1812390089035034, 0.7784008383750916, -0.0005405859556049109, 0.0005405859556049109], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23746852576732635, -2.0815212726593018, 1.9113832712173462, 1.114862322807312, -1.1240177154541016, -0.4705500900745392, -0.0013354785041883588, 0.0013354785041883588, 0.2931639552116394, -2.187952995300293, 2.1192874908447266, -1.2094682455062866, 1.1598763465881348, 0.7894636392593384, -0.0005405859556049109, 0.0005405859556049109], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24128328263759613, -2.0864806175231934, 1.9373235702514648, 1.112191915512085, -1.1224918365478516, -0.4713130295276642, -0.0013354785041883588, 0.0013354785041883588, 0.28820478916168213, -2.1845197677612305, 2.1208133697509766, -1.2098497152328491, 1.1369879245758057, 0.8031967878341675, -0.0005405859556049109, 0.0005405859556049109], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2450980395078659, -2.090676784515381, 1.958304762840271, 1.1095216274261475, -1.1079957485198975, -0.47474631667137146, -0.0013354785041883588, 0.0013354785041883588, 0.28248265385627747, -2.183375358581543, 2.1208133697509766, -1.2113755941390991, 1.115625262260437, 0.8161669373512268, -0.0005405859556049109, 0.0005405859556049109], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.247768372297287, -2.0948729515075684, 1.969367504119873, 1.1079957485198975, -1.0847257375717163, -0.47817960381507874, -0.0013354785041883588, 0.0013354785041883588, 0.2767605185508728, -2.181849479675293, 2.1208133697509766, -1.2113755941390991, 1.0954070091247559, 0.8295185565948486, -0.0005405859556049109, 0.0005405859556049109], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25120165944099426, -2.0994505882263184, 1.975852608680725, 1.10837721824646, -1.0671778917312622, -0.47856107354164124, -0.0013354785041883588, 0.0013354785041883588, 0.27141985297203064, -2.181849479675293, 2.119668960571289, -1.2113755941390991, 1.0793850421905518, 0.841725766658783, -0.0005405859556049109, 0.0005405859556049109], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25539788603782654, -2.1032655239105225, 1.9792858362197876, 1.1079957485198975, -1.0561150312423706, -0.4827573001384735, -0.0017095237271860242, 0.0017095237271860242, 0.26951247453689575, -2.181849479675293, 2.115854024887085, -1.2109941244125366, 1.0626001358032227, 0.8504997491836548, -0.0005405859556049109, 0.0005405859556049109], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2569237947463989, -2.105172872543335, 1.9811933040618896, 1.107614278793335, -1.046196699142456, -0.49000534415245056, -0.009026685729622841, 0.009026685729622841, 0.26836803555488586, -2.181849479675293, 2.1101319789886475, -1.2109941244125366, 1.0481040477752686, 0.8611810207366943, -0.0056030103005468845, 0.0056030103005468845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25539788603782654, -2.1017396450042725, 1.9831006526947021, 1.1079957485198975, -1.0336079597473145, -0.5041199326515198, -0.02024242654442787, 0.02024242654442787, 0.26684215664863586, -2.180323600769043, 2.1063172817230225, -1.2113755941390991, 1.028648853302002, 0.8829251527786255, -0.015967631712555885, 0.015967631712555885], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.247768372297287, -2.0769436359405518, 1.9838635921478271, 1.107614278793335, -1.0080491304397583, -0.5323491096496582, -0.02384442649781704, 0.02384442649781704, 0.25654229521751404, -2.1620125770568848, 2.098306179046631, -1.2087053060531616, 0.9828717708587646, 0.9279392957687378, -0.016691716387867928, 0.016691716387867928], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2317463904619217, -2.0235371589660645, 1.975852608680725, 1.107614278793335, -0.9836347103118896, -0.5693522691726685, -0.014593534171581268, 0.014593534171581268, 0.23594263195991516, -2.0963988304138184, 2.0464255809783936, -1.2117570638656616, 0.9145876169204712, 0.9775310754776001, -0.010661562904715538, 0.010661562904715538], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21953918039798737, -1.9300755262374878, 1.9113832712173462, 1.1079957485198975, -0.9699015617370605, -0.6052109599113464, -0.0010859977919608355, 0.0010859977919608355, 0.2283131182193756, -1.9785228967666626, 1.9209201335906982, -1.2109941244125366, 0.8543145060539246, 0.9855420589447021, -0.003481793450191617, 0.003481793450191617], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22640573978424072, -1.8038071393966675, 1.7763408422470093, 1.103417992591858, -0.9420538544654846, -0.6376363635063171, -4.0894770791055635e-05, 4.0894770791055635e-05, 0.22716869413852692, -1.8205920457839966, 1.7233158349990845, -1.2087053060531616, 0.7761120200157166, 0.9809643626213074, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2500572204589844, -1.6554131507873535, 1.6012436151504517, 1.1037994623184204, -0.9019989371299744, -0.6792172193527222, -5.750389027525671e-05, 5.750389027525671e-05, 0.22144655883312225, -1.6554131507873535, 1.5085450410842896, -1.2094682455062866, 0.6727321147918701, 0.9725719094276428, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.291638046503067, -1.4955748319625854, 1.4047837257385254, 1.101129174232483, -0.846684992313385, -0.7364385724067688, -5.750389027525671e-05, 5.750389027525671e-05, 0.2149614691734314, -1.507400631904602, 1.3151369094848633, -1.2094682455062866, 0.5998703241348267, 0.9649423956871033, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3435187339782715, -1.3323034048080444, 1.2182421684265137, 1.0999847650527954, -0.7791637778282166, -0.8093003630638123, -5.750389027525671e-05, 5.750389027525671e-05, 0.18520638346672058, -1.3925764560699463, 1.1663614511489868, -1.2098497152328491, 0.5590524077415466, 0.9744792580604553, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39501792192459106, -1.1736094951629639, 1.0378042459487915, 1.1007477045059204, -0.7055390477180481, -0.9111543297767639, -5.750389027525671e-05, 5.750389027525671e-05, 0.14019227027893066, -1.3273441791534424, 1.0835813283920288, -1.2102311849594116, 0.572022557258606, 1.0137712955474854, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44575417041778564, -1.037422776222229, 0.8649957776069641, 1.100366234779358, -0.5903334021568298, -1.0202564001083374, -5.750389027525671e-05, 5.750389027525671e-05, 0.07343403995037079, -1.3174258470535278, 1.0530632734298706, -1.1598763465881348, 0.6628137826919556, 1.0034713745117188, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47741663455963135, -0.9451056718826294, 0.724612832069397, 1.100366234779358, -0.46101319789886475, -1.113336443901062, -5.750389027525671e-05, 5.750389027525671e-05, 0.0013351644156500697, -1.340695858001709, 1.0553520917892456, -1.0629816055297852, 0.7551308274269104, 0.9420538544654846, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4957274794578552, -0.8947508931159973, 0.6239032745361328, 1.100366234779358, -0.3587777614593506, -1.1812390089035034, -5.750389027525671e-05, 5.750389027525671e-05, -0.0394827201962471, -1.3826581239700317, 1.0740443468093872, -0.9962233901023865, 0.8188372850418091, 0.9073395729064941, -0.0006725633866153657, 0.0006725633866153657], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506790280342102, -0.8703364729881287, 0.5621042251586914, 1.100366234779358, -0.27180132269859314, -1.2209124565124512, -5.750389027525671e-05, 5.750389027525671e-05, -0.06427863240242004, -1.4456015825271606, 1.106088399887085, -0.9710460305213928, 0.8764400482177734, 0.881780743598938, -0.007408524863421917, 0.007408524863421917], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5106050372123718, -0.8615625500679016, 0.5247195959091187, 1.1007477045059204, -0.21038375794887543, -1.2430380582809448, -5.750389027525671e-05, 5.750389027525671e-05, -0.07305257022380829, -1.512359857559204, 1.1476691961288452, -0.9454871416091919, 0.925650417804718, 0.8623254895210266, -0.015318025834858418, 0.015318025834858418], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5136567950248718, -0.8657587766647339, 0.501068115234375, 1.100366234779358, -0.17452506721019745, -1.254482388496399, -5.750389027525671e-05, 5.750389027525671e-05, -0.08182650804519653, -1.5699626207351685, 1.1877241134643555, -0.9393835067749023, 0.9504463076591492, 0.8463035225868225, -0.018495576456189156, 0.018495576456189156], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5178530812263489, -0.8775845170021057, 0.4888609051704407, 1.1007477045059204, -0.14782176911830902, -1.2621119022369385, -5.750389027525671e-05, 5.750389027525671e-05, -0.08068207651376724, -1.6203173398971558, 1.2266346216201782, -0.9317540526390076, 0.9794384837150574, 0.8299000263214111, -0.0210078377276659, 0.0210078377276659], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5231937170028687, -0.884069561958313, 0.4839017391204834, 1.1007477045059204, -0.13141833245754242, -1.264019250869751, -5.750389027525671e-05, 5.750389027525671e-05, -0.08373387902975082, -1.6611353158950806, 1.266308069229126, -0.927176296710968, 0.9840161800384521, 0.8218890428543091, -0.02222323976457119, 0.02222323976457119], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5262455344200134, -0.8901731967926025, 0.4804684519767761, 1.1007477045059204, -0.12188144028186798, -1.258297085762024, -5.750389027525671e-05, 5.750389027525671e-05, -0.08144503086805344, -1.6962310075759888, 1.2987334728240967, -0.9267948269844055, 1.0023269653320312, 0.8104447722434998, -0.02222323976457119, 0.02222323976457119], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.8947508931159973, 0.47894254326820374, 1.1007477045059204, -0.11539635062217712, -1.2521934509277344, -5.750389027525671e-05, 5.750389027525671e-05, -0.07343403995037079, -1.7206454277038574, 1.3178073167800903, -0.9233615398406982, 1.0152971744537354, 0.7982375621795654, -0.02217341586947441, 0.02217341586947441], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5292973518371582, -0.8981841802597046, 0.47817960381507874, 1.101129174232483, -0.11158160120248795, -1.2468528747558594, -5.750389027525671e-05, 5.750389027525671e-05, -0.06733043491840363, -1.736285924911499, 1.3311588764190674, -0.9237430095672607, 1.0168230533599854, 0.7822155952453613, -0.019440295174717903, 0.019440295174717903], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5300602912902832, -0.9000915288925171, 0.47741663455963135, 1.101129174232483, -0.11120012402534485, -1.2445639371871948, -5.750389027525671e-05, 5.750389027525671e-05, -0.057793546468019485, -1.744296908378601, 1.336499571800232, -0.9229800701141357, 1.0282673835754395, 0.7688639760017395, -0.006496358197182417, 0.006496358197182417], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5304417610168457, -0.9008545279502869, 0.47665369510650635, 1.101129174232483, -0.10929274559020996, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.0558861680328846, -1.7401007413864136, 1.3330663442611694, -0.9237430095672607, 1.0080491304397583, 0.7639048099517822, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5319676399230957, -0.9012359976768494, 0.47512778639793396, 1.1015106439590454, -0.10929274559020996, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.05359731614589691, -1.7206454277038574, 1.3261997699737549, -0.9229800701141357, 0.9821087718009949, 0.7616159319877625, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9016174674034119, 0.47436484694480896, 1.1015106439590454, -0.10891126841306686, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, -0.053215838968753815, -1.6947051286697388, 1.3345922231674194, -0.9233615398406982, 0.9721904397010803, 0.7639048099517822, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9023804068565369, 0.4736018776893616, 1.1015106439590454, -0.10852979123592377, -1.2415121793746948, -5.750389027525671e-05, 5.750389027525671e-05, -0.06046387553215027, -1.6767758131027222, 1.3796063661575317, -0.9233615398406982, 0.9996566772460938, 0.8150225281715393, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9042877554893494, 0.4736018776893616, 1.1045624017715454, -0.10814831405878067, -1.2403677701950073, -6.083200787543319e-05, 6.083200787543319e-05, -0.06389715522527695, -1.6691462993621826, 1.434920310974121, -0.9229800701141357, 1.0416189432144165, 0.8787289261817932, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9065766334533691, 0.4736018776893616, 1.104180932044983, -0.10852979123592377, -1.2384604215621948, -6.083200787543319e-05, 6.083200787543319e-05, -0.06733043491840363, -1.6699092388153076, 1.4894713163375854, -0.9233615398406982, 1.0816738605499268, 0.9470130205154419, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9081025123596191, 0.4736018776893616, 1.104180932044983, -0.10852979123592377, -1.2384604215621948, -5.750389027525671e-05, 5.750389027525671e-05, -0.06847485899925232, -1.6744868755340576, 1.5226596593856812, -0.9233615398406982, 1.1102845668792725, 0.9981307983398438, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9088655114173889, 0.4736018776893616, 1.1037994623184204, -0.10852979123592377, -1.2384604215621948, -6.083200787543319e-05, 6.083200787543319e-05, -0.07000076025724411, -1.6813534498214722, 1.5398260354995728, -0.9237430095672607, 1.1289769411087036, 1.0378042459487915, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9107728600502014, 0.4736018776893616, 1.103417992591858, -0.10852979123592377, -1.2388418912887573, -6.083200787543319e-05, 6.083200787543319e-05, -0.07343403995037079, -1.6870756149291992, 1.5474555492401123, -0.9237430095672607, 1.1377508640289307, 1.0648889541625977, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9134432077407837, 0.47436484694480896, 1.1007477045059204, -0.10891126841306686, -1.2392233610153198, -5.750389027525671e-05, 5.750389027525671e-05, -0.07572289556264877, -1.6939421892166138, 1.5497443675994873, -0.9245060086250305, 1.1434729099273682, 1.0862516164779663, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9145876169204712, 0.47436484694480896, 1.101129174232483, -0.10852979123592377, -1.2392233610153198, -5.750389027525671e-05, 5.750389027525671e-05, -0.07724879682064056, -1.7038605213165283, 1.5482184886932373, -0.926413357257843, 1.1350804567337036, 1.1030365228652954, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9153505563735962, 0.47436484694480896, 1.101129174232483, -0.10852979123592377, -1.2422751188278198, -6.083200787543319e-05, 6.083200787543319e-05, -0.07724879682064056, -1.7191195487976074, 1.5409704446792603, -0.926413357257843, 1.113336443901062, 1.1182955503463745, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.916876494884491, 0.47436484694480896, 1.101129174232483, -0.10891126841306686, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.07724879682064056, -1.7416266202926636, 1.5367742776870728, -0.926413357257843, 1.0831998586654663, 1.1354619264602661, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9199283123016357, 0.47589075565338135, 1.101129174232483, -0.10891126841306686, -1.2422751188278198, -6.083200787543319e-05, 6.083200787543319e-05, -0.07495994865894318, -1.7690927982330322, 1.5341038703918457, -0.926413357257843, 1.053444743156433, 1.1526284217834473, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5331120491027832, -0.925650417804718, 0.47856107354164124, 1.1015106439590454, -0.10929274559020996, -1.2422751188278198, -6.083200787543319e-05, 6.083200787543319e-05, -0.06656748056411743, -1.7973220348358154, 1.5329594612121582, -0.9260318875312805, 1.0240710973739624, 1.1682689189910889, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5331120491027832, -0.9302281141281128, 0.4804684519767761, 1.1015106439590454, -0.11081864684820175, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.05855649709701538, -1.8251698017120361, 1.5310521125793457, -0.9260318875312805, 0.9988937377929688, 1.180094599723816, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5331120491027832, -0.9332799315452576, 0.4819943606853485, 1.1015106439590454, -0.11081864684820175, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.05397878959774971, -1.8434805870056152, 1.5238040685653687, -0.9260318875312805, 0.9683756828308105, 1.1949721574783325, -0.0003620164352469146, 0.0003620164352469146], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5331120491027832, -0.9348058104515076, 0.4827573001384735, 1.101892113685608, -0.11081864684820175, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.05359731614589691, -1.8511101007461548, 1.5188448429107666, -0.9252689480781555, 0.9298466444015503, 1.2144273519515991, -0.004216508008539677, 0.004216508008539677], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5331120491027832, -0.9351872801780701, 0.4827573001384735, 1.101892113685608, -0.11081864684820175, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.05741206929087639, -1.8526359796524048, 1.516174554824829, -0.9260318875312805, 0.8943694233894348, 1.2331197261810303, -0.018701575696468353, 0.018701575696468353], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5331120491027832, -0.9351872801780701, 0.4827573001384735, 1.104180932044983, -0.11081864684820175, -1.2422751188278198, -6.083200787543319e-05, 6.083200787543319e-05, -0.06046387553215027, -1.8297474384307861, 1.496337890625, -0.9260318875312805, 0.8539330363273621, 1.2388418912887573, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9351872801780701, 0.4827573001384735, 1.104180932044983, -0.11081864684820175, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.06084534898400307, -1.7729076147079468, 1.4444571733474731, -0.9252689480781555, 0.7825970649719238, 1.2392233610153198, -0.013907619751989841, 0.013907619751989841], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.9351872801780701, 0.4827573001384735, 1.1037994623184204, -0.11120012402534485, -1.2422751188278198, -6.083200787543319e-05, 6.083200787543319e-05, -0.06275273114442825, -1.7053864002227783, 1.3956283330917358, -0.924124538898468, 0.7345311641693115, 1.205653429031372, -0.00574814947322011, 0.00574814947322011], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5342565178871155, -0.9355688095092773, 0.4827573001384735, 1.103417992591858, -0.11158160120248795, -1.2426565885543823, -6.083200787543319e-05, 6.083200787543319e-05, -0.061226826161146164, -1.6363393068313599, 1.343747615814209, -0.924124538898468, 0.726138710975647, 1.1549172401428223, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.534637987613678, -0.9351872801780701, 0.4827573001384735, 1.1030365228652954, -0.11234454810619354, -1.2426565885543823, -6.083200787543319e-05, 6.083200787543319e-05, -0.06008239835500717, -1.571869969367981, 1.2880522012710571, -0.9245060086250305, 0.7196536064147949, 1.098840355873108, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.9340428709983826, 0.4819943606853485, 1.101129174232483, -0.11463340371847153, -1.2426565885543823, -6.083200787543319e-05, 6.083200787543319e-05, -0.06008239835500717, -1.5276188850402832, 1.2449454069137573, -0.9279392957687378, 0.7219424843788147, 1.0336079597473145, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.9332799315452576, 0.4819943606853485, 1.101129174232483, -0.11539635062217712, -1.2430380582809448, -5.750389027525671e-05, 5.750389027525671e-05, -0.034142062067985535, -1.5028228759765625, 1.2151904106140137, -1.022926688194275, 0.7196536064147949, 1.0435264110565186, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.9321355223655701, 0.481612890958786, 1.101129174232483, -0.11539635062217712, -1.2434195280075073, -5.750389027525671e-05, 5.750389027525671e-05, -0.00019073777366429567, -1.5005340576171875, 1.2022202014923096, -1.1354619264602661, 0.7192721366882324, 1.0873960256576538, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.9309910535812378, 0.4808499217033386, 1.101129174232483, -0.11577782779932022, -1.2434195280075073, -5.750389027525671e-05, 5.750389027525671e-05, 0.007438773289322853, -1.5348668098449707, 1.2258716821670532, -1.1369879245758057, 0.7688639760017395, 1.0778591632843018, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.9290837049484253, 0.4800869822502136, 1.101129174232483, -0.11577782779932022, -1.2434195280075073, -6.083200787543319e-05, 6.083200787543319e-05, 0.011635004542768002, -1.5810253620147705, 1.2628748416900635, -1.101892113685608, 0.8283741474151611, 1.058022379875183, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.9283207654953003, 0.4797055125236511, 1.1015106439590454, -0.11615930497646332, -1.2434195280075073, -5.750389027525671e-05, 5.750389027525671e-05, 0.013160906732082367, -1.6290913820266724, 1.3014038801193237, -1.0854886770248413, 0.8848325610160828, 1.058022379875183, -0.0022767235059291124, 0.0022767235059291124], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.9283207654953003, 0.4797055125236511, 1.1015106439590454, -0.11615930497646332, -1.2430380582809448, -6.083200787543319e-05, 6.083200787543319e-05, 0.01201647985726595, -1.6691462993621826, 1.3368810415267944, -1.0740443468093872, 0.9245060086250305, 1.0595483779907227, -0.011058395728468895, 0.011058395728468895], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.9283207654953003, 0.4797055125236511, 1.1015106439590454, -0.11615930497646332, -1.2426565885543823, -5.750389027525671e-05, 5.750389027525671e-05, 0.013160906732082367, -1.7088197469711304, 1.3727397918701172, -1.0675593614578247, 0.9618905782699585, 1.0774776935577393, -0.016624674201011658, 0.016624674201011658], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.9283207654953003, 0.4797055125236511, 1.1015106439590454, -0.11615930497646332, -1.2426565885543823, -5.750389027525671e-05, 5.750389027525671e-05, 0.010872052982449532, -1.7431524991989136, 1.4017318487167358, -1.0641260147094727, 0.9988937377929688, 1.0946440696716309, -0.01957865059375763, 0.01957865059375763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5342565178871155, -0.9283207654953003, 0.4797055125236511, 1.1015106439590454, -0.11615930497646332, -1.2426565885543823, -5.750389027525671e-05, 5.750389027525671e-05, 0.007057297509163618, -1.7626078128814697, 1.418898344039917, -1.0618371963500977, 1.0187304019927979, 1.1057069301605225, -0.020669598132371902, 0.020669598132371902], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5327305793762207, -0.9283207654953003, 0.4797055125236511, 1.101892113685608, -0.11615930497646332, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.001716639962978661, -1.7732890844345093, 1.428435206413269, -1.0618371963500977, 1.0362783670425415, 1.1137179136276245, -0.020669598132371902, 0.020669598132371902], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5319676399230957, -0.9283207654953003, 0.4797055125236511, 1.104180932044983, -0.11615930497646332, -1.2422751188278198, -6.083200787543319e-05, 6.083200787543319e-05, -0.009727626107633114, -1.7786297798156738, 1.431486964225769, -1.0610742568969727, 1.042763352394104, 1.1125733852386475, -0.020669598132371902, 0.020669598132371902], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5319676399230957, -0.9283207654953003, 0.4797055125236511, 1.1037994623184204, -0.11615930497646332, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, -0.00667582219466567, -1.7816815376281738, 1.431486964225769, -1.0584038496017456, 1.050774335861206, 1.0835813283920288, -0.020669598132371902, 0.020669598132371902], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -0.9283207654953003, 0.4797055125236511, 1.1037994623184204, -0.11615930497646332, -1.2418936491012573, -6.083200787543319e-05, 6.083200787543319e-05, -0.00019073777366429567, -1.7835888862609863, 1.431486964225769, -1.0576409101486206, 1.0458152294158936, 1.058022379875183, -0.020649712532758713, 0.020649712532758713], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5300602912902832, -0.9283207654953003, 0.4797055125236511, 1.103417992591858, -0.11615930497646332, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, 0.002861066721379757, -1.7862592935562134, 1.432249903678894, -1.0362783670425415, 1.036659836769104, 1.030174732208252, -0.020639771595597267, 0.020639771595597267], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5292973518371582, -0.9283207654953003, 0.4797055125236511, 1.102655053138733, -0.11615930497646332, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, 0.005531395319849253, -1.7912184000015259, 1.4368276596069336, -1.0179674625396729, 1.027885913848877, 1.0126268863677979, -0.02062983065843582, 0.02062983065843582], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9283207654953003, 0.4797055125236511, 1.101129174232483, -0.11577782779932022, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, 0.004386968910694122, -1.7973220348358154, 1.439497947692871, -1.0103379487991333, 1.02521550655365, 1.0053788423538208, -0.02062983065843582, 0.02062983065843582], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9283207654953003, 0.4797055125236511, 1.1007477045059204, -0.11577782779932022, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, -0.0020981156267225742, -1.799229383468628, 1.441023826599121, -1.0023269653320312, 1.030937671661377, 1.0023269653320312, -0.02062983065843582, 0.02062983065843582], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9287022352218628, 0.4797055125236511, 1.101129174232483, -0.11577782779932022, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, -0.010872052982449532, -1.8003737926483154, 1.4414052963256836, -1.0015640258789062, 1.0370413064956665, 1.0023269653320312, -0.020619889721274376, 0.020619889721274376], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9287022352218628, 0.4797055125236511, 1.101129174232483, -0.11615930497646332, -1.2418936491012573, -6.083200787543319e-05, 6.083200787543319e-05, -0.016212711110711098, -1.801899790763855, 1.435683250427246, -1.0011825561523438, 1.0435264110565186, 0.997367799282074, -0.02060994878411293, 0.02060994878411293], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9287022352218628, 0.4797055125236511, 1.101129174232483, -0.11615930497646332, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, -0.016212711110711098, -1.8038071393966675, 1.428435206413269, -0.9946975111961365, 1.042000412940979, 0.9882124066352844, -0.020044026896357536, 0.020044026896357536], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5277714133262634, -0.9287022352218628, 0.4797055125236511, 1.101129174232483, -0.11577782779932022, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, -0.01506828423589468, -1.804951548576355, 1.422713041305542, -0.9908827543258667, 1.0355154275894165, 0.9782940149307251, -0.018839124590158463, 0.018839124590158463], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5270084738731384, -0.9290837049484253, 0.4797055125236511, 1.1015106439590454, -0.11577782779932022, -1.2418936491012573, -6.083200787543319e-05, 6.083200787543319e-05, -0.010109102353453636, -1.8060959577560425, 1.4200427532196045, -0.9908827543258667, 1.0248340368270874, 0.9676127433776855, -0.017278751358389854, 0.017278751358389854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5258640646934509, -0.9290837049484253, 0.4797055125236511, 1.1015106439590454, -0.11577782779932022, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, -0.005531395319849253, -1.80724036693573, 1.418135404586792, -0.9916456937789917, 1.0187304019927979, 0.959983229637146, -0.013798903673887253, 0.013798903673887253], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5258640646934509, -0.9290837049484253, 0.4797055125236511, 1.101892113685608, -0.11577782779932022, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, -0.000572213320992887, -1.8083847761154175, 1.4158464670181274, -0.997367799282074, 1.0145342350006104, 0.9569314122200012, -0.00417158380150795, 0.00417158380150795], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5258640646934509, -0.9290837049484253, 0.4797055125236511, 1.104180932044983, -0.11577782779932022, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, 0.002861066721379757, -1.804951548576355, 1.4135576486587524, -1.0023269653320312, 1.0046159029006958, 0.9573128819465637, -0.0006098823505453765, 0.0006098823505453765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5254825949668884, -0.9294651746749878, 0.47932401299476624, 1.104180932044983, -0.11577782779932022, -1.2418936491012573, -5.750389027525671e-05, 5.750389027525671e-05, 0.0032425422687083483, -1.7874037027359009, 1.4105058908462524, -1.0015640258789062, 0.9969863295555115, 0.9637979865074158, -0.0006098823505453765, 0.0006098823505453765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5254825949668884, -0.9302281141281128, 0.47894254326820374, 1.1037994623184204, -0.11577782779932022, -1.2418936491012573, -6.083200787543319e-05, 6.083200787543319e-05, 0.0032425422687083483, -1.7652781009674072, 1.408216953277588, -1.0164415836334229, 1.0034713745117188, 0.9916456937789917, -0.0006098823505453765, 0.0006098823505453765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5254825949668884, -0.9298466444015503, 0.47894254326820374, 1.103417992591858, -0.11577782779932022, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, 0.0032425422687083483, -1.7469673156738281, 1.4055466651916504, -1.055733561515808, 1.0233081579208374, 1.030174732208252, -0.0006098823505453765, 0.0006098823505453765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5254825949668884, -0.9298466444015503, 0.47894254326820374, 1.1030365228652954, -0.11615930497646332, -1.2422751188278198, -6.083200787543319e-05, 6.083200787543319e-05, 0.0013351644156500697, -1.7366673946380615, 1.3994430303573608, -1.0786221027374268, 1.0515373945236206, 1.056496500968933, -0.0006098823505453765, 0.0006098823505453765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5258640646934509, -0.9298466444015503, 0.47894254326820374, 1.101129174232483, -0.11577782779932022, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.000572213320992887, -1.7286564111709595, 1.3883802890777588, -1.0934996604919434, 1.0690852403640747, 1.0721369981765747, -0.0006098823505453765, 0.0006098823505453765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5262455344200134, -0.9298466444015503, 0.47894254326820374, 1.101129174232483, -0.11615930497646332, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.000572213320992887, -1.723697304725647, 1.3773174285888672, -1.1007477045059204, 1.0774776935577393, 1.0828183889389038, -0.0006098823505453765, 0.0006098823505453765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9298466444015503, 0.47894254326820374, 1.101129174232483, -0.11615930497646332, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, -0.0009536888683214784, -1.72102689743042, 1.3662546873092651, -1.106088399887085, 1.0770962238311768, 1.0904479026794434, -0.0006098823505453765, 0.0006098823505453765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9302281141281128, 0.47894254326820374, 1.101129174232483, -0.11615930497646332, -1.2422751188278198, -6.083200787543319e-05, 6.083200787543319e-05, -0.0020981156267225742, -1.720263957977295, 1.356717824935913, -1.1255435943603516, 1.0709925889968872, 1.106088399887085, -0.0006762705743312836, 0.0006762705743312836], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9302281141281128, 0.47894254326820374, 1.101129174232483, -0.11615930497646332, -1.2426565885543823, -5.750389027525671e-05, 5.750389027525671e-05, -0.0024795911740511656, -1.7175936698913574, 1.3464179039001465, -1.1453803777694702, 1.0656518936157227, 1.120965838432312, -0.0008378018392249942, 0.0008378018392249942], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9298466444015503, 0.47894254326820374, 1.101129174232483, -0.11615930497646332, -1.2426565885543823, -6.083200787543319e-05, 6.083200787543319e-05, -0.002861066721379757, -1.71492338180542, 1.337262511253357, -1.1568245887756348, 1.051918864250183, 1.1297398805618286, -0.0010269833728671074, 0.0010269833728671074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9302281141281128, 0.47856107354164124, 1.1015106439590454, -0.11654078215360641, -1.2426565885543823, -5.750389027525671e-05, 5.750389027525671e-05, -0.0032425422687083483, -1.7133973836898804, 1.332684874534607, -1.1655985116958618, 1.036659836769104, 1.1385138034820557, -0.007226260378956795, 0.007226260378956795], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9302281141281128, 0.47817960381507874, 1.1015106439590454, -0.11654078215360641, -1.2434195280075073, -6.083200787543319e-05, 6.083200787543319e-05, -0.0036240178160369396, -1.7065308094024658, 1.3277256488800049, -1.1678873300552368, 1.0225452184677124, 1.1430914402008057, -0.015243222936987877, 0.015243222936987877], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9302281141281128, 0.47817960381507874, 1.101892113685608, -0.11692225188016891, -1.2460898160934448, -5.750389027525671e-05, 5.750389027525671e-05, -0.008964675478637218, -1.6584649085998535, 1.3036926984786987, -1.1717021465301514, 0.9863049983978271, 1.1549172401428223, -0.015010183677077293, 0.015010183677077293], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -0.9298466444015503, 0.47817960381507874, 1.1022735834121704, -0.11692225188016891, -1.2460898160934448, -5.750389027525671e-05, 5.750389027525671e-05, -0.01735713705420494, -1.561570167541504, 1.258297085762024, -1.1724650859832764, 0.9317540526390076, 1.1644541025161743, -0.006186028942465782, 0.006186028942465782], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5285343527793884, -0.926413357257843, 0.47779813408851624, 1.104180932044983, -0.1180666834115982, -1.2460898160934448, -5.750389027525671e-05, 5.750389027525671e-05, -0.01773861236870289, -1.427672266960144, 1.1926833391189575, -1.1728465557098389, 0.8787289261817932, 1.1648355722427368, -5.085395241621882e-05, 5.085395241621882e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5205233693122864, -0.9153505563735962, 0.483138769865036, 1.1037994623184204, -0.13027389347553253, -1.2457083463668823, -5.750389027525671e-05, 5.750389027525671e-05, 0.006294346414506435, -1.261730432510376, 1.0900664329528809, -1.1724650859832764, 0.8279926776885986, 1.1663614511489868, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4713130295276642, -0.9092469811439514, 0.5086976289749146, 1.1037994623184204, -0.1840619444847107, -1.2453268766403198, -5.750389027525671e-05, 5.750389027525671e-05, 0.05855649709701538, -1.0736628770828247, 0.9508277773857117, -1.1724650859832764, 0.7513160705566406, 1.1755168437957764, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36411839723587036, -0.9275577664375305, 0.5598153471946716, 1.0709925889968872, -0.3114747703075409, -1.2060348987579346, -5.750389027525671e-05, 5.750389027525671e-05, 0.14744029939174652, -0.8875028491020203, 0.7997635006904602, -1.1717021465301514, 0.6628137826919556, 1.1854352951049805, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19207294285297394, -0.9863049983978271, 0.615129292011261, 0.8970397710800171, -0.501068115234375, -1.0458152294158936, -5.750389027525671e-05, 5.750389027525671e-05, 0.2653162479400635, -0.726138710975647, 0.655947208404541, -1.1717021465301514, 0.5739299654960632, 1.2151904106140137, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04177157208323479, -1.0713740587234497, 0.6834134459495544, 0.7722972631454468, -0.6597619652748108, -0.9409094452857971, -5.750389027525671e-05, 5.750389027525671e-05, 0.38052186369895935, -0.6189440488815308, 0.543411910533905, -1.1720836162567139, 0.4884794354438782, 1.2457083463668823, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04901960864663124, -1.1636911630630493, 0.7513160705566406, 0.7486457824707031, -0.7581826448440552, -0.9081025123596191, -0.0010348219657316804, 0.0010348219657316804, 0.49229419231414795, -0.5617227554321289, 0.45872434973716736, -1.1713206768035889, 0.4003585875034332, 1.2708858251571655, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09708552807569504, -1.2464714050292969, 0.8127336502075195, 0.7421606779098511, -0.8077744841575623, -0.8993285894393921, -0.009188150987029076, 0.009188150987029076, 0.5823224186897278, -0.5422675013542175, 0.3995956480503082, -1.1717021465301514, 0.3274967670440674, 1.2857633829116821, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11196307092905045, -1.3128480911254883, 0.8676661252975464, 0.7497901916503906, -0.8356221914291382, -0.8928435444831848, -0.017753688618540764, 0.017753688618540764, 0.6422140598297119, -0.5384527444839478, 0.3580147922039032, -1.1720836162567139, 0.2630273997783661, 1.2953002452850342, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10929274559020996, -1.3750286102294922, 0.9218356609344482, 0.7841230034828186, -0.84592205286026, -0.8928435444831848, -0.021744903177022934, 0.021744903177022934, 0.6750209927558899, -0.5384527444839478, 0.3271152675151825, -1.1720836162567139, 0.20542457699775696, 1.3025482892990112, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09975585341453552, -1.4265278577804565, 0.968757152557373, 0.8020523190498352, -0.8470664620399475, -0.8886472582817078, -0.022203311324119568, 0.022203311324119568, 0.6937133073806763, -0.5388342142105103, 0.308041512966156, -1.1717021465301514, 0.16384375095367432, 1.3063629865646362, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09060044586658478, -1.4749752283096313, 1.0133898258209229, 0.813878059387207, -0.8539330363273621, -0.8813992738723755, -0.022203311324119568, 0.022203311324119568, 0.7047760486602783, -0.5399786233901978, 0.2946898639202118, -1.1717021465301514, 0.12951095402240753, 1.3067444562911987, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08220797777175903, -1.512359857559204, 1.045433759689331, 0.8199816942214966, -0.8539330363273621, -0.8741512298583984, -0.022203311324119568, 0.022203311324119568, 0.7135500311851501, -0.5403600931167603, 0.28362706303596497, -1.1717021465301514, 0.09937438368797302, 1.3067444562911987, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07534141838550568, -1.5440223217010498, 1.0717555284500122, 0.8241779208183289, -0.8535515666007996, -0.8688105344772339, -0.022203311324119568, 0.022203311324119568, 0.7192721366882324, -0.541886031627655, 0.2767605185508728, -1.1720836162567139, 0.06809338182210922, 1.3063629865646362, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07343403995037079, -1.567292332649231, 1.0912108421325684, 0.8268482685089111, -0.8497368097305298, -0.8649957776069641, -0.022203311324119568, 0.022203311324119568, 0.7230868935585022, -0.543411910533905, 0.27180132269859314, -1.1720836162567139, 0.048638131469488144, 1.3063629865646362, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0711451917886734, -1.5882734060287476, 1.106088399887085, 0.8272297382354736, -0.8451590538024902, -0.8588922023773193, -0.022193346172571182, 0.022193346172571182, 0.724612832069397, -0.5460822582244873, 0.26798656582832336, -1.1720836162567139, 0.03643091395497322, 1.3063629865646362, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06733043491840363, -1.6069657802581787, 1.117914080619812, 0.8276112079620361, -0.8451590538024902, -0.8550774455070496, -0.022163452580571175, 0.022163452580571175, 0.7257572412490845, -0.5487525463104248, 0.265697717666626, -1.1720836162567139, 0.02536812424659729, 1.3063629865646362, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06160829961299896, -1.6199358701705933, 1.1278324127197266, 0.8279926776885986, -0.8421072959899902, -0.8516441583633423, -0.020252350717782974, 0.020252350717782974, 0.726138710975647, -0.5521858334541321, 0.2630273997783661, -1.1724650859832764, 0.018501564860343933, 1.3075073957443237, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05359731614589691, -1.6283283233642578, 1.1350804567337036, 0.8279926776885986, -0.8421072959899902, -0.848210871219635, -0.012170353904366493, 0.012170353904366493, 0.726138710975647, -0.5552376508712769, 0.2615014910697937, -1.1747539043426514, 0.013160906732082367, 1.3109407424926758, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04940108209848404, -1.6325246095657349, 1.1404211521148682, 0.8279926776885986, -0.841725766658783, -0.848210871219635, -0.0009336374932900071, 0.0009336374932900071, 0.726138710975647, -0.5567635893821716, 0.2603570520877838, -1.1743724346160889, 0.00858320016413927, 1.3136110305786133, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.048256658017635345, -1.6325246095657349, 1.1457618474960327, 0.8299000263214111, -0.8413442969322205, -0.8485923409461975, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5571450591087341, 0.2592126429080963, -1.1743724346160889, 0.0020981156267225742, 1.3143739700317383, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.048638131469488144, -1.6260395050048828, 1.1533913612365723, 0.8299000263214111, -0.8413442969322205, -0.8493552803993225, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5579079985618591, 0.2569237947463989, -1.1743724346160889, 0.001716639962978661, 1.3155183792114258, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05130846053361893, -1.6172655820846558, 1.1797131299972534, 0.8436331748962402, -0.8539330363273621, -0.8611810207366943, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5579079985618591, 0.25539788603782654, -1.1739909648895264, -0.004005493130534887, 1.3181887865066528, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05359731614589691, -1.6168841123580933, 1.2266346216201782, 0.8882657885551453, -0.9061951637268066, -0.8878843188285828, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5590524077415466, 0.25463491678237915, -1.1739909648895264, -0.005912871100008488, 1.3189517259597778, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.051689937710762024, -1.6256580352783203, 1.2872892618179321, 0.9439612627029419, -0.9580758213996887, -0.9130617380142212, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5601968169212341, 0.25387197732925415, -1.1736094951629639, -0.010109102353453636, 1.3216220140457153, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -1.639772653579712, 1.342984676361084, 0.9821087718009949, -1.0206378698349, -0.9309910535812378, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5617227554321289, 0.25310903787612915, -1.1736094951629639, -0.011635004542768002, 1.3216220140457153, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05397878959774971, -1.656557559967041, 1.3948653936386108, 1.0210193395614624, -1.0759518146514893, -0.9401465058326721, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5636301040649414, 0.25310903787612915, -1.1736094951629639, -0.01201647985726595, 1.3220034837722778, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05092698708176613, -1.6714351177215576, 1.4375905990600586, 1.0698481798171997, -1.113336443901062, -0.959983229637146, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5655375123023987, 0.25310903787612915, -1.1736094951629639, -0.012779430486261845, 1.3235293626785278, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.048256658017635345, -1.6836423873901367, 1.4711604118347168, 1.109140157699585, -1.1507209539413452, -0.9729533791542053, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5678263306617737, 0.25234606862068176, -1.1713206768035889, -0.013160906732082367, 1.3250553607940674, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04940108209848404, -1.6939421892166138, 1.49786376953125, 1.1297398805618286, -1.1644541025161743, -0.9813458323478699, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.569733738899231, 0.25234606862068176, -1.1717021465301514, -0.016212711110711098, 1.3250553607940674, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05054550990462303, -1.7023346424102783, 1.514648675918579, 1.1430914402008057, -1.1694133281707764, -0.9897382855415344, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5731670260429382, 0.25234606862068176, -1.1717021465301514, -0.01773861236870289, 1.3254368305206299, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05130846053361893, -1.7137788534164429, 1.5215152502059937, 1.1499580144882202, -1.1552987098693848, -0.996604859828949, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5746929049491882, 0.25234606862068176, -1.1717021465301514, -0.01926451548933983, 1.3258183002471924, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.053215838968753815, -1.7301822900772095, 1.5249484777450562, 1.1556801795959473, -1.1385138034820557, -1.0030899047851562, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5758373141288757, 0.25234606862068176, -1.1720836162567139, -0.019645990803837776, 1.3258183002471924, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05397878959774971, -1.7488746643066406, 1.5257114171981812, 1.1575875282287598, -1.1285953521728516, -1.0103379487991333, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.576981782913208, 0.25234606862068176, -1.1720836162567139, -0.019645990803837776, 1.3265812397003174, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05436026677489281, -1.7656595706939697, 1.5218967199325562, 1.1575875282287598, -1.122110366821289, -1.0111008882522583, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5773632526397705, 0.25234606862068176, -1.1743724346160889, -0.019645990803837776, 1.3284885883331299, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0558861680328846, -1.7763408422470093, 1.513122797012329, 1.1594948768615723, -1.10990309715271, -1.0179674625396729, -0.00047567090950906277, 0.00047567090950906277, 0.726138710975647, -0.5773632526397705, 0.25234606862068176, -1.1743724346160889, -0.019645990803837776, 1.3284885883331299, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.058175019919872284, -1.7816815376281738, 1.5005340576171875, 1.1606394052505493, -1.0908293724060059, -1.0233081579208374, -0.001923639327287674, 0.001923639327287674, 0.726138710975647, -0.5773632526397705, 0.25234606862068176, -1.1743724346160889, -0.019645990803837776, 1.3284885883331299, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06237125024199486, -1.7832074165344238, 1.492141604423523, 1.1606394052505493, -1.0667964220046997, -1.0378042459487915, -0.012878110632300377, 0.012878110632300377, 0.726138710975647, -0.5773632526397705, 0.25234606862068176, -1.1743724346160889, -0.019645990803837776, 1.3281071186065674, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06885633617639542, -1.7702373266220093, 1.4822232723236084, 1.1606394052505493, -1.0450522899627686, -1.0481040477752686, -0.02163529396057129, 0.02163529396057129, 0.726138710975647, -0.5731670260429382, 0.2584496736526489, -1.1739909648895264, -0.01926451548933983, 1.3246738910675049, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08106355369091034, -1.721789836883545, 1.4597162008285522, 1.1606394052505493, -1.0141527652740479, -1.0660333633422852, -0.019944902509450912, 0.019944902509450912, 0.724612832069397, -0.5575265288352966, 0.2771419882774353, -1.1736094951629639, -0.018501564860343933, 1.3044556379318237, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09441519528627396, -1.6206988096237183, 1.3960098028182983, 1.1602579355239868, -0.9538795948028564, -1.0904479026794434, -0.0032221456058323383, 0.0032221456058323383, 0.7013428211212158, -0.5384527444839478, 0.30117493867874146, -1.1736094951629639, -0.015449759550392628, 1.2788968086242676, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09098191559314728, -1.4768825769424438, 1.28385591506958, 1.1587319374084473, -0.8745326995849609, -1.1160067319869995, -3.426579860388301e-05, 3.426579860388301e-05, 0.6593804955482483, -0.5266270041465759, 0.3255893886089325, -1.1736094951629639, -0.007057297509163618, 1.2579156160354614, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06961929053068161, -1.3330663442611694, 1.1526284217834473, 1.1591134071350098, -0.7974746227264404, -1.1385138034820557, -3.426579860388301e-05, 3.426579860388301e-05, 0.6017776727676392, -0.5201418995857239, 0.3526741564273834, -1.1732280254364014, 0.00476844422519207, 1.2426565885543823, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.037193864583969116, -1.1774243116378784, 1.0011825561523438, 1.124399185180664, -0.7185091972351074, -1.1419470310211182, -3.426579860388301e-05, 3.426579860388301e-05, 0.5331120491027832, -0.5189974904060364, 0.38204777240753174, -1.1732280254364014, 0.03147173300385475, 1.2247272729873657, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.022697795182466507, -1.0255969762802124, 0.8329518437385559, 0.9367132186889648, -0.6715877056121826, -1.0065232515335083, -3.426579860388301e-05, 3.426579860388301e-05, 0.4503318965435028, -0.5315861701965332, 0.41638055443763733, -1.1724650859832764, 0.08449683338403702, 1.19764244556427, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.001716639962978661, -0.8791103959083557, 0.6658655405044556, 0.6788357496261597, -0.6548027992248535, -0.7997635006904602, -3.426579860388301e-05, 3.426579860388301e-05, 0.3561074137687683, -0.5674448609352112, 0.4549095928668976, -1.1743724346160889, 0.164988175034523, 1.1655985116958618, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05054550990462303, -0.7475013136863708, 0.5174715518951416, 0.4083695709705353, -0.647173285484314, -0.5731670260429382, -3.426579860388301e-05, 3.426579860388301e-05, 0.25196459889411926, -0.6326771974563599, 0.4999237060546875, -1.1747539043426514, 0.2462424635887146, 1.1511024236679077, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10967422276735306, -0.6467918157577515, 0.39883267879486084, 0.15926603972911835, -0.6345845460891724, -0.36678874492645264, -3.426579860388301e-05, 3.426579860388301e-05, 0.15392538905143738, -0.7417792081832886, 0.571259617805481, -1.1747539043426514, 0.35114824771881104, 1.1465247869491577, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15774014592170715, -0.5910963416099548, 0.31490805745124817, -0.032616160809993744, -0.6345845460891724, -0.20656901597976685, -3.426579860388301e-05, 3.426579860388301e-05, 0.07381551712751389, -0.8791103959083557, 0.6612878441810608, -1.120965838432312, 0.4873350262641907, 1.0831998586654663, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1810101419687271, -0.5628671646118164, 0.25387197732925415, -0.18749523162841797, -0.6261920928955078, -0.086785688996315, -3.426579860388301e-05, 3.426579860388301e-05, -0.004005493130534887, -1.033989429473877, 0.7593270540237427, -0.9832532405853271, 0.6612878441810608, 0.9645609259605408, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19130998849868774, -0.5483710765838623, 0.21229113638401031, -0.28400853276252747, -0.6273365616798401, -0.011635004542768002, -3.426579860388301e-05, 3.426579860388301e-05, -0.034142062067985535, -1.1530098915100098, 0.8382925391197205, -0.9019989371299744, 0.8104447722434998, 0.9111543297767639, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1962691694498062, -0.54112309217453, 0.18978407979011536, -0.3416113555431366, -0.6300068497657776, 0.03376058489084244, -3.426579860388301e-05, 3.426579860388301e-05, -0.014686808921396732, -1.2193865776062012, 0.883306622505188, -0.9149690866470337, 0.8997100591659546, 0.916113555431366, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2004653960466385, -0.5384527444839478, 0.17757686972618103, -0.3721294105052948, -0.6311513185501099, 0.06084534898400307, -3.426579860388301e-05, 3.426579860388301e-05, 0.037193864583969116, -1.254482388496399, 0.8989471197128296, -0.9752422571182251, 0.9851605892181396, 0.9500648379325867, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20122835040092468, -0.5384527444839478, 0.17071031033992767, -0.3915846347808838, -0.6315327882766724, 0.07686731964349747, -3.426579860388301e-05, 3.426579860388301e-05, 0.07915617525577545, -1.2621119022369385, 0.8951323628425598, -1.0111008882522583, 1.0313191413879395, 0.9740977883338928, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20237277448177338, -0.5384527444839478, 0.1661325991153717, -0.4007400572299957, -0.6322957277297974, 0.08525978773832321, -3.426579860388301e-05, 3.426579860388301e-05, 0.12455176562070847, -1.2445639371871948, 0.8669031858444214, -1.030174732208252, 1.0843442678451538, 0.9908827543258667, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20313572883605957, -0.5388342142105103, 0.1646067053079605, -0.4076066315174103, -0.6349660754203796, 0.09098191559314728, -3.426579860388301e-05, 3.426579860388301e-05, 0.17299915850162506, -1.2170977592468262, 0.8287556171417236, -1.0755703449249268, 1.102655053138733, 1.0271228551864624, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20351719856262207, -0.5395971536636353, 0.16308079659938812, -0.41103988885879517, -0.6345845460891724, 0.09441519528627396, -3.426579860388301e-05, 3.426579860388301e-05, 0.2138170450925827, -1.2006943225860596, 0.7970931529998779, -1.1037994623184204, 1.122873306274414, 1.056496500968933, -0.0028944986406713724, 0.0028944986406713724], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20351719856262207, -0.54112309217453, 0.16308079659938812, -0.41294726729393005, -0.6345845460891724, 0.09555962681770325, -3.426579860388301e-05, 3.426579860388301e-05, 0.23823148012161255, -1.188105583190918, 0.7719157934188843, -1.1240177154541016, 1.1427099704742432, 1.0816738605499268, -0.008542058058083057, 0.008542058058083057], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20351719856262207, -0.541886031627655, 0.16308079659938812, -0.41447317600250244, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.25501641631126404, -1.1797131299972534, 0.7532234787940979, -1.1343175172805786, 1.1511024236679077, 1.101129174232483, -0.013636377640068531, 0.013636377640068531], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20313572883605957, -0.541886031627655, 0.16308079659938812, -0.41447317600250244, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.26913100481033325, -1.1758984327316284, 0.7402533292770386, -1.1408026218414307, 1.1629282236099243, 1.1144808530807495, -0.0142995435744524, 0.0142995435744524], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20313572883605957, -0.54264897108078, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.28477150201797485, -1.1739909648895264, 0.733386754989624, -1.1446174383163452, 1.1549172401428223, 1.1263065338134766, -0.014308701269328594, 0.014308701269328594], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.543411910533905, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.29964902997016907, -1.1766613721847534, 0.728427529335022, -1.1449989080429077, 1.1530098915100098, 1.1358433961868286, -0.014308701269328594, 0.014308701269328594], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5437933802604675, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.3084229826927185, -1.180857539176941, 0.7227054238319397, -1.1465247869491577, 1.1449989080429077, 1.1427099704742432, -0.014308701269328594, 0.014308701269328594], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5437933802604675, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.3130006790161133, -1.1854352951049805, 0.7158388495445251, -1.1484321355819702, 1.1434729099273682, 1.1465247869491577, -0.014290387742221355, 0.014290387742221355], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5437933802604675, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.31528952717781067, -1.188868522644043, 0.7101167440414429, -1.1484321355819702, 1.1327916383743286, 1.1495765447616577, -0.013898548670113087, 0.013898548670113087], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.54417484998703, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.31948578357696533, -1.1919203996658325, 0.7070649266242981, -1.1488136053085327, 1.1289769411087036, 1.1495765447616577, -0.013807951472699642, 0.013807951472699642], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5449378490447998, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.3236820101737976, -1.1949721574783325, 0.7059205174446106, -1.1484321355819702, 1.1247806549072266, 1.1495765447616577, -0.012816362082958221, 0.012816362082958221], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5453193187713623, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.32673379778862, -1.1987868547439575, 0.7051575779914856, -1.1484321355819702, 1.1175326108932495, 1.1499580144882202, -0.011929215863347054, 0.011929215863347054], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5453193187713623, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.3286411762237549, -1.2022202014923096, 0.7043945789337158, -1.1488136053085327, 1.1175326108932495, 1.1499580144882202, -0.010367798618972301, 0.010367798618972301], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5457007884979248, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.33016708493232727, -1.2045090198516846, 0.7043945789337158, -1.1484321355819702, 1.114099383354187, 1.1499580144882202, -0.007836420089006424, 0.007836420089006424], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5457007884979248, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.33054855465888977, -1.2052719593048096, 0.7043945789337158, -1.1484321355819702, 1.10990309715271, 1.1503394842147827, -0.005109818186610937, 0.005109818186610937], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5457007884979248, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.33054855465888977, -1.2060348987579346, 0.7043945789337158, -1.1484321355819702, 1.1095216274261475, 1.1530098915100098, -0.002974120434373617, 0.002974120434373617], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5457007884979248, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.33054855465888977, -1.2060348987579346, 0.7043945789337158, -1.1484321355819702, 1.106088399887085, 1.1530098915100098, -0.00028863802435807884, 0.00028863802435807884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5457007884979248, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.33054855465888977, -1.2060348987579346, 0.7043945789337158, -1.1484321355819702, 1.1022735834121704, 1.1530098915100098, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5457007884979248, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.33054855465888977, -1.2060348987579346, 0.7043945789337158, -1.1484321355819702, 1.1015106439590454, 1.1526284217834473, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5453193187713623, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.3282597064971924, -1.205653429031372, 0.7043945789337158, -1.1484321355819702, 1.099603295326233, 1.1491950750350952, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5457007884979248, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.31872281432151794, -1.202601671218872, 0.7055390477180481, -1.1488136053085327, 1.1037994623184204, 1.1442358493804932, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5457007884979248, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.3099488914012909, -1.1980239152908325, 0.7059205174446106, -1.1488136053085327, 1.1182955503463745, 1.1362248659133911, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5460822582244873, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.29964902997016907, -1.19459068775177, 0.7059205174446106, -1.1491950750350952, 1.1285953521728516, 1.1285953521728516, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5460822582244873, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.290112167596817, -1.1926833391189575, 0.7051575779914856, -1.1549172401428223, 1.1369879245758057, 1.1240177154541016, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5464637279510498, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.28248265385627747, -1.19153892993927, 0.7036316394805908, -1.1789501905441284, 1.1423285007476807, 1.1270694732666016, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5468451976776123, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.2779049277305603, -1.19153892993927, 0.7021057605743408, -1.192301869392395, 1.1442358493804932, 1.1324101686477661, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5472266674041748, 0.16308079659938812, -0.41485464572906494, -0.6345845460891724, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.2752346098423004, -1.19153892993927, 0.699053943157196, -1.2029831409454346, 1.1430914402008057, 1.1381323337554932, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5476081371307373, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.2744716703891754, -1.19153892993927, 0.6956206560134888, -1.204890489578247, 1.1350804567337036, 1.1381323337554932, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5491340756416321, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.2786678969860077, -1.191157341003418, 0.693331778049469, -1.2094682455062866, 1.1354619264602661, 1.1373693943023682, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5498970150947571, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.290112167596817, -1.191157341003418, 0.6914244294166565, -1.2109941244125366, 1.1358433961868286, 1.1297398805618286, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5498970150947571, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.2969787120819092, -1.1907758712768555, 0.691042959690094, -1.2125200033187866, 1.1362248659133911, 1.125925064086914, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5506599545478821, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.30270084738731384, -1.1835278272628784, 0.6952391862869263, -1.2125200033187866, 1.1404211521148682, 1.1224918365478516, -0.00780757749453187, 0.00780757749453187], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5510414242744446, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.2958342730998993, -1.1537728309631348, 0.7063019871711731, -1.2121385335922241, 1.1316472291946411, 1.1224918365478516, -0.01656726375222206, 0.01656726375222206], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5510414242744446, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.2756160795688629, -1.102655053138733, 0.7177462577819824, -1.2121385335922241, 1.0950255393981934, 1.127450942993164, -0.013798903673887253, 0.013798903673887253], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5510414242744446, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.247768372297287, -1.0603113174438477, 0.7242313027381897, -1.2121385335922241, 1.045433759689331, 1.1377508640289307, -0.005255881696939468, 0.005255881696939468], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5510414242744446, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.22487983107566833, -1.0393301248550415, 0.7272831201553345, -1.2125200033187866, 0.996604859828949, 1.1465247869491577, -0.0008225998608395457, 0.0008225998608395457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5510414242744446, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.2130540907382965, -1.032463550567627, 0.7318608164787292, -1.2121385335922241, 0.9496833682060242, 1.1533913612365723, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5518043637275696, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.20618753135204315, -1.034752368927002, 0.7383459210395813, -1.2125200033187866, 0.9073395729064941, 1.1579689979553223, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5518043637275696, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.20275425910949707, -1.050011396408081, 0.7505531311035156, -1.2121385335922241, 0.8836880922317505, 1.1648355722427368, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5518043637275696, 0.16308079659938812, -0.41523614525794983, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.20122835040092468, -1.0782406330108643, 0.7688639760017395, -1.2117570638656616, 0.8909361362457275, 1.1644541025161743, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5518043637275696, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.1997024416923523, -1.1118104457855225, 0.7860303521156311, -1.2113755941390991, 0.9164950251579285, 1.1575875282287598, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.5518043637275696, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.1802472025156021, -1.1408026218414307, 0.8020523190498352, -1.1644541025161743, 0.9336614012718201, 1.1175326108932495, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20160982012748718, -0.5518043637275696, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.15506981313228607, -1.1675058603286743, 0.8241779208183289, -1.0992218255996704, 0.9393835067749023, 1.0748074054718018, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20160982012748718, -0.5521858334541321, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.1359960287809372, -1.1999313831329346, 0.8520256280899048, -1.0690852403640747, 0.9405279755592346, 1.0595483779907227, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20160982012748718, -0.5529488325119019, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.12607766687870026, -1.2357900142669678, 0.883306622505188, -1.0736628770828247, 0.9332799315452576, 1.0709925889968872, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20122835040092468, -0.5540932416915894, 0.16308079659938812, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.1180666834115982, -1.272793173789978, 0.9164950251579285, -1.0801479816436768, 0.9260318875312805, 1.0896848440170288, -0.0009646060643717647, 0.0009646060643717647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5556191205978394, 0.16384375095367432, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.11387044936418533, -1.3097963333129883, 0.951209306716919, -1.0851072072982788, 0.9260318875312805, 1.102655053138733, -0.00510376738384366, 0.00510376738384366], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5567635893821716, 0.16422522068023682, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.11158160120248795, -1.3483253717422485, 0.9882124066352844, -1.0858701467514038, 0.9332799315452576, 1.112191915512085, -0.012763520702719688, 0.012763520702719688], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.1646067053079605, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.10852979123592377, -1.3933393955230713, 1.0263599157333374, -1.0893033742904663, 0.9569314122200012, 1.1224918365478516, -0.016826007515192032, 0.016826007515192032], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.164988175034523, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.10852979123592377, -1.435683250427246, 1.051155924797058, -1.0889219045639038, 0.9760051965713501, 1.1308842897415161, -0.01691247895359993, 0.01691247895359993], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.164988175034523, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.11387044936418533, -1.4658198356628418, 1.0637445449829102, -1.0915923118591309, 0.9870679974555969, 1.1346989870071411, -0.017182184383273125, 0.017182184383273125], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.164988175034523, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.12378881871700287, -1.481841802597046, 1.0698481798171997, -1.0904479026794434, 0.9924086332321167, 1.1346989870071411, -0.017162885516881943, 0.017162885516881943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.164988175034523, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.13218127191066742, -1.490615725517273, 1.0725184679031372, -1.0893033742904663, 0.9954604506492615, 1.1343175172805786, -0.017153238877654076, 0.017153238877654076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.164988175034523, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.14438849687576294, -1.495956301689148, 1.0721369981765747, -1.0904479026794434, 0.9981307983398438, 1.1339360475540161, -0.016768421977758408, 0.016768421977758408], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.152399480342865, -1.50091552734375, 1.0713740587234497, -1.0889219045639038, 0.997367799282074, 1.1335545778274536, -0.016452595591545105, 0.016452595591545105], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.15888457000255585, -1.506637692451477, 1.0698481798171997, -1.0908293724060059, 0.994316041469574, 1.1327916383743286, -0.01600552350282669, 0.01600552350282669], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.16346226632595062, -1.5119783878326416, 1.0687037706375122, -1.0893033742904663, 0.9920271635055542, 1.1305028200149536, -0.015939226374030113, 0.015939226374030113], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.164988175034523, -1.516174554824829, 1.0675593614578247, -1.0896848440170288, 0.9889753460884094, 1.1305028200149536, -0.01512190606445074, 0.01512190606445074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.16918440163135529, -1.5203708410263062, 1.0660333633422852, -1.0896848440170288, 0.9840161800384521, 1.1305028200149536, -0.015075323171913624, 0.015075323171913624], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09822995215654373, -3.426579860388301e-05, 3.426579860388301e-05, 0.17185473442077637, -1.5245670080184937, 1.0656518936157227, -1.0896848440170288, 0.9786755442619324, 1.1301213502883911, -0.014317860826849937, 0.014317860826849937], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.17452506721019745, -1.5283818244934082, 1.0637445449829102, -1.0912108421325684, 0.9740977883338928, 1.1301213502883911, -0.013197368942201138, 0.013197368942201138], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.17910276353359222, -1.5306706428527832, 1.0626001358032227, -1.0885404348373413, 0.9668498039245605, 1.1297398805618286, -0.010900619439780712, 0.010900619439780712], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.1653696447610855, -0.41523614525794983, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.1825360506772995, -1.5318150520324707, 1.0618371963500977, -1.0908293724060059, 0.959220290184021, 1.1289769411087036, -0.007101199124008417, 0.007101199124008417], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.18673227727413177, -1.5325779914855957, 1.0595483779907227, -1.0896848440170288, 0.951972246170044, 1.1270694732666016, -0.0007321466691792011, 0.0007321466691792011], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.18635080754756927, -1.5325779914855957, 1.057259440422058, -1.0896848440170288, 0.9439612627029419, 1.1270694732666016, -0.00034095399314537644, 0.00034095399314537644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.1844434291124344, -1.5321965217590332, 1.0553520917892456, -1.0896848440170288, 0.9344243407249451, 1.1270694732666016, -0.00034095399314537644, 0.00034095399314537644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.17757686972618103, -1.5314335823059082, 1.054970622062683, -1.0912108421325684, 0.9218356609344482, 1.1308842897415161, -0.00034095399314537644, 0.00034095399314537644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6345845460891724, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.17071031033992767, -1.5314335823059082, 1.0545891523361206, -1.0912108421325684, 0.9111543297767639, 1.1404211521148682, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.1657511293888092, -1.5314335823059082, 1.0545891523361206, -1.0912108421325684, 0.9035248160362244, 1.1461433172225952, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.16384375095367432, -1.5314335823059082, 1.054207682609558, -1.0908293724060059, 0.8997100591659546, 1.1495765447616577, -0.00034095399314537644, 0.00034095399314537644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.16231784224510193, -1.5310521125793457, 1.0515373945236206, -1.0908293724060059, 0.9004730582237244, 1.1533913612365723, -0.00034095399314537644, 0.00034095399314537644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.16155488789081573, -1.5287632942199707, 1.0473411083221436, -1.0908293724060059, 0.9073395729064941, 1.1533913612365723, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.16155488789081573, -1.5245670080184937, 1.0408560037612915, -1.0908293724060059, 0.9115357995033264, 1.1533913612365723, -0.00034095399314537644, 0.00034095399314537644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.16155488789081573, -1.5203708410263062, 1.033989429473877, -1.0908293724060059, 0.9180209040641785, 1.1533913612365723, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.16193637251853943, -1.5150301456451416, 1.028648853302002, -1.0908293724060059, 0.919165313243866, 1.1530098915100098, -0.0011935379588976502, 0.0011935379588976502], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5571450591087341, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.16193637251853943, -1.4990081787109375, 1.024452567100525, -1.0919737815856934, 0.9111543297767639, 1.1503394842147827, -0.014244639314711094, 0.014244639314711094], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.16041046380996704, -1.4513237476348877, 1.0156786441802979, -1.0912108421325684, 0.8741512298583984, 1.1491950750350952, -0.016166847199201584, 0.016166847199201584], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.14820325374603271, -1.3792248964309692, 0.9996566772460938, -1.0893033742904663, 0.810826301574707, 1.1491950750350952, -0.005459367763251066, 0.005459367763251066], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.12188144028186798, -1.3208590745925903, 0.9916456937789917, -1.0889219045639038, 0.760471522808075, 1.1434729099273682, -0.00037962806527502835, 0.00037962806527502835], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.08258945494890213, -1.2895780801773071, 0.9912642240524292, -1.0904479026794434, 0.7230868935585022, 1.1270694732666016, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.04406042397022247, -1.275844931602478, 0.9885938763618469, -1.0912108421325684, 0.6815060377120972, 1.0992218255996704, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.5575265288352966, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, 0.013923857361078262, -1.2731746435165405, 0.9832532405853271, -1.0915923118591309, 0.6231403350830078, 1.0713740587234497, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2004653960466385, -0.5579079985618591, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, -0.0036240178160369396, -1.28385591506958, 0.9805828928947449, -1.0912108421325684, 0.5655375123023987, 1.054207682609558, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2004653960466385, -0.5586709380149841, 0.1653696447610855, -0.41485464572906494, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, -0.01201647985726595, -1.3086519241333008, 0.9866865277290344, -1.0912108421325684, 0.5266270041465759, 1.044670820236206, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -0.5598153471946716, 0.1653696447610855, -0.41523614525794983, -0.6349660754203796, 0.09899290651082993, -3.426579860388301e-05, 3.426579860388301e-05, -0.01506828423589468, -1.345273494720459, 1.0137712955474854, -1.0915923118591309, 0.5201418995857239, 1.027885913848877, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -0.5617227554321289, 0.1661325991153717, -0.41523614525794983, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, -0.0078202486038208, -1.3990615606307983, 1.0797665119171143, -1.0908293724060059, 0.576218843460083, 0.9885938763618469, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -0.5647745728492737, 0.1672770231962204, -0.41485464572906494, -0.6345845460891724, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, -0.005912871100008488, -1.4696345329284668, 1.1846723556518555, -1.0915923118591309, 0.6761654019355774, 0.9565499424934387, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -0.5659189820289612, 0.16880293190479279, -0.41523614525794983, -0.6349660754203796, 0.09861142933368683, -3.426579860388301e-05, 3.426579860388301e-05, -0.0009536888683214784, -1.5512703657150269, 1.3113222122192383, -1.0919737815856934, 0.8237964510917664, 0.9279392957687378, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -0.5670633912086487, 0.16918440163135529, -0.41485464572906494, -0.6349660754203796, 0.09899290651082993, -3.426579860388301e-05, 3.426579860388301e-05, 0.0078202486038208, -1.6096360683441162, 1.4101243019104004, -1.0915923118591309, 0.926413357257843, 0.9119172692298889, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.200083926320076, -0.5674448609352112, 0.16918440163135529, -0.41485464572906494, -0.6345845460891724, 0.10128175467252731, -3.426579860388301e-05, 3.426579860388301e-05, 0.016212711110711098, -1.6546502113342285, 1.4837491512298584, -1.0923552513122559, 1.0030899047851562, 0.8993285894393921, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20237277448177338, -0.5674448609352112, 0.17032882571220398, -0.41485464572906494, -0.6345845460891724, 0.1028076633810997, -3.426579860388301e-05, 3.426579860388301e-05, 0.026131074875593185, -1.6905088424682617, 1.5321965217590332, -1.0923552513122559, 1.0667964220046997, 0.889028787612915, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20656901597976685, -0.5674448609352112, 0.17147326469421387, -0.41485464572906494, -0.6349660754203796, 0.10891126841306686, -3.426579860388301e-05, 3.426579860388301e-05, 0.03185320645570755, -1.7145417928695679, 1.559281349182129, -1.0923552513122559, 1.0889219045639038, 0.8852140307426453, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20809490978717804, -0.5674448609352112, 0.17185473442077637, -0.41485464572906494, -0.6345845460891724, 0.11081864684820175, -3.426579860388301e-05, 3.426579860388301e-05, 0.04749370738863945, -1.7374303340911865, 1.5764477252960205, -1.1007477045059204, 1.0957884788513184, 0.8836880922317505, -0.0003164794761687517, 0.0003164794761687517], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21000228822231293, -0.5674448609352112, 0.17185473442077637, -0.41485464572906494, -0.6345845460891724, 0.11387044936418533, -3.426579860388301e-05, 3.426579860388301e-05, 0.07305257022380829, -1.7576485872268677, 1.589417815208435, -1.1415655612945557, 1.0770962238311768, 0.8951323628425598, -0.0032941759563982487, 0.0032941759563982487], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5674448609352112, 0.17185473442077637, -0.41485464572906494, -0.6349660754203796, 0.11692225188016891, -3.426579860388301e-05, 3.426579860388301e-05, 0.09403372555971146, -1.7854963541030884, 1.6184099912643433, -1.1755168437957764, 1.0660333633422852, 0.9023804068565369, -0.00976663175970316, 0.00976663175970316], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5674448609352112, 0.17185473442077637, -0.41485464572906494, -0.6345845460891724, 0.11692225188016891, -3.426579860388301e-05, 3.426579860388301e-05, 0.11272602528333664, -1.8343251943588257, 1.6775387525558472, -1.1949721574783325, 1.0809109210968018, 0.9164950251579285, -0.013798903673887253, 0.013798903673887253], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5678263306617737, 0.17185473442077637, -0.41485464572906494, -0.6349660754203796, 0.11730372905731201, -3.426579860388301e-05, 3.426579860388301e-05, 0.12302586436271667, -1.88735032081604, 1.7465858459472656, -1.206416368484497, 1.100366234779358, 0.9279392957687378, -0.015411683358252048, 0.015411683358252048], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.568970799446106, 0.17223620414733887, -0.41485464572906494, -0.6345845460891724, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.1356145590543747, -1.9384679794311523, 1.8083847761154175, -1.2140458822250366, 1.1190584897994995, 0.9401465058326721, -0.017201486974954605, 0.017201486974954605], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5708781480789185, 0.17299915850162506, -0.41485464572906494, -0.6349660754203796, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.14667734503746033, -1.9831006526947021, 1.8648432493209839, -1.2155718803405762, 1.127450942993164, 0.9531166553497314, -0.01939091458916664, 0.01939091458916664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.572022557258606, 0.17299915850162506, -0.41485464572906494, -0.6345845460891724, 0.1188296303153038, -3.426579860388301e-05, 3.426579860388301e-05, 0.1489662081003189, -2.0227739810943604, 1.9174867868423462, -1.2201495170593262, 1.1297398805618286, 0.967994213104248, -0.019381040707230568, 0.019381040707230568], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5739299654960632, 0.17338064312934875, -0.41485464572906494, -0.6345845460891724, 0.11959258466959, -3.426579860388301e-05, 3.426579860388301e-05, 0.1520180106163025, -2.053673505783081, 1.958304762840271, -1.2205309867858887, 1.1331731081008911, 0.9805828928947449, -0.019371164962649345, 0.019371164962649345], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5758373141288757, 0.17414358258247375, -0.41485464572906494, -0.6349660754203796, 0.11959258466959, -3.426579860388301e-05, 3.426579860388301e-05, 0.15430685877799988, -2.0742733478546143, 1.9857709407806396, -1.2201495170593262, 1.1327916383743286, 0.9855420589447021, -0.01936129294335842, 0.01936129294335842], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5766003131866455, 0.17452506721019745, -0.41523614525794983, -0.6349660754203796, 0.11959258466959, -3.426579860388301e-05, 3.426579860388301e-05, 0.152399480342865, -2.090676784515381, 2.0002670288085938, -1.2277790307998657, 1.1327916383743286, 0.9920271635055542, -0.019351420924067497, 0.019351420924067497], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5781261920928955, 0.17528800666332245, -0.41485464572906494, -0.6349660754203796, 0.11959258466959, -3.426579860388301e-05, 3.426579860388301e-05, 0.15392538905143738, -2.1002135276794434, 2.008659601211548, -1.2426565885543823, 1.1327916383743286, 0.996604859828949, -0.019351420924067497, 0.019351420924067497], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5788891315460205, 0.17528800666332245, -0.41523614525794983, -0.6349660754203796, 0.11959258466959, -3.426579860388301e-05, 3.426579860388301e-05, 0.15735866129398346, -2.10593581199646, 2.0120928287506104, -1.2571526765823364, 1.1438543796539307, 0.9996566772460938, -0.019341550767421722, 0.019341550767421722], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17528800666332245, -0.41523614525794983, -0.6349660754203796, 0.1192111074924469, -3.426579860388301e-05, 3.426579860388301e-05, 0.15735866129398346, -2.10898756980896, 2.0136187076568604, -1.2659265995025635, 1.1541543006896973, 0.9996566772460938, -0.019341550767421722, 0.019341550767421722], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17528800666332245, -0.41523614525794983, -0.6349660754203796, 0.1192111074924469, -3.426579860388301e-05, 3.426579860388301e-05, 0.15735866129398346, -2.1101319789886475, 2.0143816471099854, -1.2689783573150635, 1.1564431190490723, 0.9996566772460938, -0.019341550767421722, 0.019341550767421722], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17528800666332245, -0.41523614525794983, -0.6349660754203796, 0.1188296303153038, -3.426579860388301e-05, 3.426579860388301e-05, 0.15735866129398346, -2.1108949184417725, 2.0143816471099854, -1.2724117040634155, 1.1602579355239868, 0.9996566772460938, -0.01914427988231182, 0.01914427988231182], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17528800666332245, -0.41523614525794983, -0.6349660754203796, 0.11692225188016891, -3.426579860388301e-05, 3.426579860388301e-05, 0.15735866129398346, -2.1108949184417725, 2.013237237930298, -1.272793173789978, 1.1602579355239868, 0.9996566772460938, -0.017909370362758636, 0.017909370362758636], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17528800666332245, -0.41485464572906494, -0.6349660754203796, 0.11692225188016891, -3.426579860388301e-05, 3.426579860388301e-05, 0.15850308537483215, -2.1108949184417725, 2.009422540664673, -1.2731746435165405, 1.1610208749771118, 0.9996566772460938, -0.01565597765147686, 0.01565597765147686], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17566949129104614, -0.41523614525794983, -0.6349660754203796, 0.11692225188016891, -3.426579860388301e-05, 3.426579860388301e-05, 0.15888457000255585, -2.111276388168335, 2.0033187866210938, -1.2754634618759155, 1.1617838144302368, 0.9996566772460938, -0.013591350987553596, 0.013591350987553596], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17566949129104614, -0.41523614525794983, -0.6349660754203796, 0.11730372905731201, -3.426579860388301e-05, 3.426579860388301e-05, 0.15888457000255585, -2.111276388168335, 1.9945448637008667, -1.275844931602478, 1.1617838144302368, 0.9996566772460938, -0.011877783574163914, 0.011877783574163914], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17566949129104614, -0.41485464572906494, -0.6349660754203796, 0.11730372905731201, -3.426579860388301e-05, 3.426579860388301e-05, 0.15888457000255585, -2.11203932762146, 1.9861524105072021, -1.2754634618759155, 1.1602579355239868, 0.9996566772460938, -0.008467355743050575, 0.008467355743050575], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17566949129104614, -0.41485464572906494, -0.6349660754203796, 0.11730372905731201, -3.426579860388301e-05, 3.426579860388301e-05, 0.15888457000255585, -2.11203932762146, 1.9815747737884521, -1.275081992149353, 1.1549172401428223, 1.0008010864257812, -0.0029292511753737926, 0.0029292511753737926], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17566949129104614, -0.41523614525794983, -0.6349660754203796, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.15888457000255585, -2.11203932762146, 1.97966730594635, -1.2739375829696655, 1.1465247869491577, 1.0076676607131958, -0.0007923044031485915, 0.0007923044031485915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17566949129104614, -0.41485464572906494, -0.6349660754203796, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.15926603972911835, -2.1124207973480225, 1.9815747737884521, -1.2747005224227905, 1.1388952732086182, 1.0126268863677979, -0.0007923044031485915, 0.0007923044031485915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17566949129104614, -0.41485464572906494, -0.6349660754203796, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.15774014592170715, -2.1124207973480225, 1.9888228178024292, -1.275081992149353, 1.1331731081008911, 1.0210193395614624, -0.0007923044031485915, 0.0007923044031485915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.579270601272583, 0.17566949129104614, -0.41485464572906494, -0.6349660754203796, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.1512550562620163, -2.1124207973480225, 1.9975967407226562, -1.2747005224227905, 1.1316472291946411, 1.0343708992004395, -0.0007923044031485915, 0.0007923044031485915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5796520709991455, 0.17566949129104614, -0.41485464572906494, -0.6349660754203796, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.14324407279491425, -2.1124207973480225, 2.0025558471679688, -1.2754634618759155, 1.125162124633789, 1.046959638595581, -0.0007923044031485915, 0.0007923044031485915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5807965397834778, 0.17605096101760864, -0.41485464572906494, -0.6349660754203796, 0.1188296303153038, -3.426579860388301e-05, 3.426579860388301e-05, 0.1371404528617859, -2.1124207973480225, 2.0044631958007812, -1.2754634618759155, 1.125162124633789, 1.0568779706954956, -0.0007923044031485915, 0.0007923044031485915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5823224186897278, 0.17643244564533234, -0.41485464572906494, -0.6349660754203796, 0.1188296303153038, -3.426579860388301e-05, 3.426579860388301e-05, 0.134470134973526, -2.1124207973480225, 2.0033187866210938, -1.275081992149353, 1.120965838432312, 1.0603113174438477, -0.0007923044031485915, 0.0007923044031485915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5834668278694153, 0.17719538509845734, -0.41485464572906494, -0.6349660754203796, 0.1188296303153038, -3.426579860388301e-05, 3.426579860388301e-05, 0.1333257108926773, -2.112802267074585, 1.9998855590820312, -1.275081992149353, 1.110666036605835, 1.0679408311843872, -0.0017224644543603063, 0.0017224644543603063], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5834668278694153, 0.17719538509845734, -0.41485464572906494, -0.6349660754203796, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.1325627565383911, -2.11203932762146, 1.9983596801757812, -1.2754634618759155, 1.0912108421325684, 1.0801479816436768, -0.010053345933556557, 0.010053345933556557], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.5834668278694153, 0.17719538509845734, -0.41485464572906494, -0.6349660754203796, 0.1188296303153038, -3.426579860388301e-05, 3.426579860388301e-05, 0.13141833245754242, -2.097543239593506, 1.9846265316009521, -1.2754634618759155, 1.0538262128829956, 1.1053253412246704, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21076524257659912, -0.5834668278694153, 0.17719538509845734, -0.41485464572906494, -0.6353475451469421, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.12912946939468384, -2.0426108837127686, 1.9201571941375732, -1.275081992149353, 0.9653238654136658, 1.127450942993164, -0.010302972048521042, 0.010302972048521042], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21076524257659912, -0.5834668278694153, 0.17719538509845734, -0.41485464572906494, -0.6353475451469421, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.12417028844356537, -1.962119460105896, 1.8190661668777466, -1.2731746435165405, 0.8569847941398621, 1.1404211521148682, -0.004535919986665249, 0.004535919986665249], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21076524257659912, -0.5838482975959778, 0.17719538509845734, -0.41485464572906494, -0.6353475451469421, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.11272602528333664, -1.8820096254348755, 1.7130159139633179, -1.2731746435165405, 0.7681010365486145, 1.1465247869491577, -1.4429124348680489e-05, 1.4429124348680489e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21076524257659912, -0.5838482975959778, 0.17719538509845734, -0.41485464572906494, -0.6357290148735046, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.09632257372140884, -1.8087663650512695, 1.6100175380706787, -1.273556113243103, 0.7051575779914856, 1.1476691961288452, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21076524257659912, -0.5838482975959778, 0.17719538509845734, -0.41485464572906494, -0.6357290148735046, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.06923781335353851, -1.7477302551269531, 1.516174554824829, -1.2708858251571655, 0.6635767221450806, 1.1610208749771118, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21114671230316162, -0.5838482975959778, 0.17719538509845734, -0.41485464572906494, -0.6357290148735046, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.01583123579621315, -1.7126344442367554, 1.4543755054473877, -1.1667429208755493, 0.6834134459495544, 1.10837721824646, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21152819693088531, -0.5846112966537476, 0.17719538509845734, -0.41485464572906494, -0.6361104846000671, 0.11730372905731201, -3.426579860388301e-05, 3.426579860388301e-05, -0.043678950518369675, -1.6912717819213867, 1.4085984230041504, -1.042763352394104, 0.7303349375724792, 1.052681803703308, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17719538509845734, -0.41485464572906494, -0.6364919543266296, 0.11654078215360641, -3.426579860388301e-05, 3.426579860388301e-05, -0.09136339277029037, -1.6786831617355347, 1.3727397918701172, -0.968757152557373, 0.7722972631454468, 1.0271228551864624, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6364919543266296, 0.11615930497646332, -3.426579860388301e-05, 3.426579860388301e-05, -0.11196307092905045, -1.6725795269012451, 1.347943902015686, -0.926413357257843, 0.8085374236106873, 1.0111008882522583, -0.0011614973191171885, 0.0011614973191171885], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41523614525794983, -0.6364919543266296, 0.11196307092905045, -3.426579860388301e-05, 3.426579860388301e-05, -0.12760357558727264, -1.6752498149871826, 1.332684874534607, -0.9039062857627869, 0.8276112079620361, 1.0030899047851562, -0.010768462903797626, 0.010768462903797626], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6364919543266296, 0.11234454810619354, -3.426579860388301e-05, 3.426579860388301e-05, -0.135233074426651, -1.6889829635620117, 1.3273441791534424, -0.8894102573394775, 0.839436948299408, 0.9977492690086365, -0.01571251079440117, 0.01571251079440117], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6364919543266296, 0.11234454810619354, -3.426579860388301e-05, 3.426579860388301e-05, -0.13752193748950958, -1.7053864002227783, 1.3273441791534424, -0.8791103959083557, 0.84897381067276, 0.997367799282074, -0.017588594928383827, 0.017588594928383827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11272602528333664, -3.426579860388301e-05, 3.426579860388301e-05, -0.14171816408634186, -1.7183566093444824, 1.3273441791534424, -0.8779659867286682, 0.84897381067276, 0.995078980922699, -0.018662307411432266, 0.018662307411432266], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41523614525794983, -0.6364919543266296, 0.11272602528333664, -3.426579860388301e-05, 3.426579860388301e-05, -0.13981078565120697, -1.7263675928115845, 1.3273441791534424, -0.8741512298583984, 0.8539330363273621, 0.9916456937789917, -0.019717134535312653, 0.019717134535312653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11272602528333664, -3.426579860388301e-05, 3.426579860388301e-05, -0.14171816408634186, -1.731708288192749, 1.3277256488800049, -0.8714808821678162, 0.8524070978164673, 0.9851605892181396, -0.019974632188677788, 0.019974632188677788], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11310750246047974, -3.426579860388301e-05, 3.426579860388301e-05, -0.14057374000549316, -1.737048864364624, 1.3315403461456299, -0.8710994124412537, 0.8516441583633423, 0.9794384837150574, -0.020540371537208557, 0.020540371537208557], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11310750246047974, -3.426579860388301e-05, 3.426579860388301e-05, -0.13942931592464447, -1.7477302551269531, 1.339932918548584, -0.8707179427146912, 0.8512626886367798, 0.9756237268447876, -0.020550310611724854, 0.020550310611724854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11348897218704224, -3.426579860388301e-05, 3.426579860388301e-05, -0.13942931592464447, -1.7629892826080322, 1.351758599281311, -0.8710994124412537, 0.848210871219635, 0.9756237268447876, -0.020550310611724854, 0.020550310611724854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11425192654132843, -3.426579860388301e-05, 3.426579860388301e-05, -0.13828489184379578, -1.7801556587219238, 1.3651102781295776, -0.8707179427146912, 0.848210871219635, 0.9756237268447876, -0.020550310611724854, 0.020550310611724854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11654078215360641, -3.426579860388301e-05, 3.426579860388301e-05, -0.1371404528617859, -1.7965590953826904, 1.3788433074951172, -0.8707179427146912, 0.846684992313385, 0.9760051965713501, -0.020550310611724854, 0.020550310611724854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11654078215360641, -3.426579860388301e-05, 3.426579860388301e-05, -0.134470134973526, -1.8087663650512695, 1.3906691074371338, -0.8707179427146912, 0.8447775840759277, 0.9763866662979126, -0.020550310611724854, 0.020550310611724854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11654078215360641, -3.426579860388301e-05, 3.426579860388301e-05, -0.13218127191066742, -1.817158818244934, 1.4009689092636108, -0.8703364729881287, 0.8443961143493652, 0.9767681360244751, -0.020550310611724854, 0.020550310611724854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11654078215360641, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.8213549852371216, 1.4070725440979004, -0.8703364729881287, 0.8436331748962402, 0.9771496057510376, -0.020550310611724854, 0.020550310611724854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11692225188016891, -3.426579860388301e-05, 3.426579860388301e-05, -0.13103684782981873, -1.824025273323059, 1.4105058908462524, -0.8699550032615662, 0.8421072959899902, 0.9771496057510376, -0.020550310611724854, 0.020550310611724854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11692225188016891, -3.426579860388301e-05, 3.426579860388301e-05, -0.13065537810325623, -1.8251698017120361, 1.412413239479065, -0.8699550032615662, 0.8421072959899902, 0.9771496057510376, -0.020550310611724854, 0.020550310611724854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6361104846000671, 0.11692225188016891, -3.426579860388301e-05, 3.426579860388301e-05, -0.12874799966812134, -1.8263142108917236, 1.41317617893219, -0.8699550032615662, 0.8421072959899902, 0.9767681360244751, -0.020550310611724854, 0.020550310611724854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6357290148735046, 0.11692225188016891, -3.426579860388301e-05, 3.426579860388301e-05, -0.12836651504039764, -1.8263142108917236, 1.413939118385315, -0.8699550032615662, 0.841725766658783, 0.9760051965713501, -0.020540371537208557, 0.020540371537208557], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17643244564533234, -0.41485464572906494, -0.6357290148735046, 0.11730372905731201, -3.426579860388301e-05, 3.426579860388301e-05, -0.12798504531383514, -1.8270771503448486, 1.415464997291565, -0.8703364729881287, 0.841725766658783, 0.9721904397010803, -0.020540371537208557, 0.020540371537208557], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, -0.12493324279785156, -1.8308918476104736, 1.418898344039917, -0.8703364729881287, 0.8413442969322205, 0.9714275002479553, -0.02053043432533741, 0.02053043432533741], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, -0.12073700875043869, -1.8339437246322632, 1.423475980758667, -0.8699550032615662, 0.840962827205658, 0.9683756828308105, -0.020520497113466263, 0.020520497113466263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6357290148735046, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, -0.11692225188016891, -1.8373769521713257, 1.425764799118042, -0.8699550032615662, 0.8413442969322205, 0.967994213104248, -0.020341696217656136, 0.020341696217656136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6357290148735046, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.11463340371847153, -1.8396657705307007, 1.427672266960144, -0.8695735335350037, 0.840962827205658, 0.9676127433776855, -0.019727030768990517, 0.019727030768990517], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21190966665744781, -0.5846112966537476, 0.17681391537189484, -0.41523614525794983, -0.6357290148735046, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.11272602528333664, -1.8411917686462402, 1.4280537366867065, -0.8684290647506714, 0.8405813574790955, 0.9653238654136658, -0.018976842984557152, 0.018976842984557152], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.11234454810619354, -1.8423361778259277, 1.4280537366867065, -0.8691920638084412, 0.840199887752533, 0.9653238654136658, -0.01746257022023201, 0.01746257022023201], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6357290148735046, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.11043716967105865, -1.8430991172790527, 1.427672266960144, -0.8707179427146912, 0.8398184180259705, 0.9653238654136658, -0.01480602752417326, 0.01480602752417326], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.10967422276735306, -1.8442435264587402, 1.425001859664917, -0.8707179427146912, 0.8333333134651184, 0.9657053351402283, -0.01125059463083744, 0.01125059463083744], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6357290148735046, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.10891126841306686, -1.8442435264587402, 1.422713041305542, -0.8710994124412537, 0.8257037997245789, 0.969520092010498, -0.00825229100883007, 0.00825229100883007], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6357290148735046, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.10738536715507507, -1.8442435264587402, 1.4208056926727295, -0.8710994124412537, 0.8188372850418091, 0.9729533791542053, -0.004792988300323486, 0.004792988300323486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.10624094307422638, -1.8442435264587402, 1.418898344039917, -0.8707179427146912, 0.8146410584449768, 0.9767681360244751, -0.00043991405982524157, 0.00043991405982524157], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.10547798871994019, -1.8427176475524902, 1.418898344039917, -0.8710994124412537, 0.8100633025169373, 0.9805828928947449, -0.0004720853758044541, 0.0004720853758044541], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.10051880776882172, -1.8358510732650757, 1.418898344039917, -0.8707179427146912, 0.80357825756073, 0.9805828928947449, -0.00046850202488712966, 0.00046850202488712966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.09479667246341705, -1.8213549852371216, 1.41775381565094, -0.8703364729881287, 0.8016708493232727, 0.9809643626213074, -0.0004720853758044541, 0.0004720853758044541], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.08373387902975082, -1.795414686203003, 1.415464997291565, -0.8707179427146912, 0.7955672740936279, 0.9809643626213074, -0.0004720853758044541, 0.0004720853758044541], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.06847485899925232, -1.7683298587799072, 1.413939118385315, -0.8699550032615662, 0.7944228053092957, 0.9798199534416199, -0.0004720853758044541, 0.0004720853758044541], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.0551232174038887, -1.7446783781051636, 1.413939118385315, -0.8703364729881287, 0.7879377603530884, 0.9760051965713501, -0.00046850202488712966, 0.00046850202488712966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, -0.035667963325977325, -1.7240787744522095, 1.413939118385315, -0.8703364729881287, 0.7879377603530884, 0.9752422571182251, -0.0004720853758044541, 0.0004720853758044541], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, -0.01430533267557621, -1.7084382772445679, 1.4173723459243774, -0.8707179427146912, 0.7879377603530884, 0.9725719094276428, -0.00046850202488712966, 0.00046850202488712966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.013160906732082367, -1.6989012956619263, 1.425764799118042, -0.8707179427146912, 0.7875562906265259, 0.9733348488807678, -0.00046850202488712966, 0.00046850202488712966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.048638131469488144, -1.6943236589431763, 1.4326313734054565, -0.8703364729881287, 0.7871748208999634, 0.9813458323478699, -0.00046850202488712966, 0.00046850202488712966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.08602273464202881, -1.6935607194900513, 1.4375905990600586, -0.8707179427146912, 0.7719157934188843, 0.9885938763618469, -0.00046850202488712966, 0.00046850202488712966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.212672621011734, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.12684062123298645, -1.6973754167556763, 1.4440757036209106, -0.8703364729881287, 0.7581826448440552, 0.9969863295555115, -0.00046850202488712966, 0.00046850202488712966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2130540907382965, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.16155488789081573, -1.7107270956039429, 1.4528496265411377, -0.8707179427146912, 0.7417792081832886, 1.0072861909866333, -0.00046850202488712966, 0.00046850202488712966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.19092851877212524, -1.732471227645874, 1.4650568962097168, -0.8710994124412537, 0.7265201807022095, 1.0194933414459229, -0.00046850202488712966, 0.00046850202488712966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.21648737788200378, -1.7599374055862427, 1.4772640466690063, -0.8707179427146912, 0.7185091972351074, 1.037422776222229, -0.00046850202488712966, 0.00046850202488712966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.23327229917049408, -1.7866407632827759, 1.485656499862671, -0.8710994124412537, 0.7085908055305481, 1.051918864250183, -0.00046850202488712966, 0.00046850202488712966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.247768372297287, -1.808003306388855, 1.490615725517273, -0.8714808821678162, 0.700579822063446, 1.0599298477172852, -0.0004720853758044541, 0.0004720853758044541], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.2592126429080963, -1.822499394416809, 1.492904543876648, -0.8714808821678162, 0.6979095339775085, 1.0671778917312622, -0.002383752027526498, 0.002383752027526498], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.2660791873931885, -1.8282215595245361, 1.4955748319625854, -0.8714808821678162, 0.6883726119995117, 1.0709925889968872, -0.011672917753458023, 0.011672917753458023], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.2801937758922577, -1.817921757698059, 1.4909971952438354, -0.8707179427146912, 0.6879911422729492, 1.0706111192703247, -0.016138345003128052, 0.016138345003128052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.28782328963279724, -1.7645151615142822, 1.4528496265411377, -0.8703364729881287, 0.6563286781311035, 1.0450522899627686, -0.015948692336678505, 0.015948692336678505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.2904936373233795, -1.6886014938354492, 1.3906691074371338, -0.8703364729881287, 0.6174181699752808, 0.9985122680664062, -0.006576596759259701, 0.006576596759259701], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.2821011543273926, -1.6153582334518433, 1.3319218158721924, -0.8676661252975464, 0.6013962030410767, 0.9546425342559814, -0.0005988877383060753, 0.0005988877383060753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.2634088695049286, -1.5581368207931519, 1.2872892618179321, -0.8714808821678162, 0.6052109599113464, 0.916876494884491, -6.749454769305885e-05, 6.749454769305885e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.2611200213432312, -1.5241855382919312, 1.2651636600494385, -0.9145876169204712, 0.6284809708595276, 0.9088655114173889, -6.749454769305885e-05, 6.749454769305885e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.28858625888824463, -1.5093079805374146, 1.263256311416626, -1.1045624017715454, 0.6414511203765869, 1.027885913848877, -6.749454769305885e-05, 6.749454769305885e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2134355753660202, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.31910428404808044, -1.5173189640045166, 1.2922483682632446, -1.2514305114746094, 0.6876096725463867, 1.114099383354187, -6.749454769305885e-05, 6.749454769305885e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.33093002438545227, -1.5577553510665894, 1.358243703842163, -1.345273494720459, 0.7799267768859863, 1.1667429208755493, -6.749454769305885e-05, 6.749454769305885e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.3404669165611267, -1.6031509637832642, 1.4288166761398315, -1.3902876377105713, 0.8676661252975464, 1.199549913406372, -0.000743382319342345, 0.000743382319342345], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.34504464268684387, -1.647783637046814, 1.484893560409546, -1.4200427532196045, 0.9439612627029419, 1.2270160913467407, -0.005243647377938032, 0.005243647377938032], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.34657052159309387, -1.6924163103103638, 1.5352483987808228, -1.4421683549880981, 1.0095750093460083, 1.2445639371871948, -0.008927335031330585, 0.008927335031330585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.3530556261539459, -1.729800820350647, 1.570344090461731, -1.4444571733474731, 1.0618371963500977, 1.2556267976760864, -0.010958642698824406, 0.010958642698824406], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.3534370958805084, -1.7607003450393677, 1.5932326316833496, -1.4578088521957397, 1.0992218255996704, 1.266308069229126, -0.013456580229103565, 0.013456580229103565], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.3538185656070709, -1.7824444770812988, 1.6126878261566162, -1.4589532613754272, 1.1224918365478516, 1.269359827041626, -0.013519414700567722, 0.013519414700567722], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6361104846000671, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.3564889132976532, -1.7996108531951904, 1.6245136260986328, -1.4585717916488647, 1.1457618474960327, 1.269359827041626, -0.014125918038189411, 0.014125918038189411], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.11768520623445511, -3.426579860388301e-05, 3.426579860388301e-05, 0.3545815348625183, -1.8118181228637695, 1.6313802003860474, -1.4597162008285522, 1.1579689979553223, 1.2689783573150635, -0.014125918038189411, 0.014125918038189411], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.3549630045890808, -1.818684697151184, 1.6355763673782349, -1.4597162008285522, 1.1655985116958618, 1.264782190322876, -0.014098568819463253, 0.014098568819463253], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.3557259440422058, -1.8244068622589111, 1.6359578371047974, -1.4597162008285522, 1.1747539043426514, 1.260585904121399, -0.011698449961841106, 0.011698449961841106], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.3557259440422058, -1.8263142108917236, 1.637483835220337, -1.4597162008285522, 1.177805781364441, 1.2571526765823364, -0.005818093195557594, 0.005818093195557594], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.3557259440422058, -1.8266956806182861, 1.638246774673462, -1.4600976705551147, 1.1797131299972534, 1.2563897371292114, -0.00026438964414410293, 0.00026438964414410293], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.3568703830242157, -1.8251698017120361, 1.638246774673462, -1.4604791402816772, 1.179331660270691, 1.2563897371292114, -0.00027130701346322894, 0.00027130701346322894], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.36335545778274536, -1.818684697151184, 1.6363393068313599, -1.4627679586410522, 1.185816764831543, 1.2563897371292114, -0.00027130701346322894, 0.00027130701346322894], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.3747997283935547, -1.8095293045043945, 1.6279468536376953, -1.4620050191879272, 1.195353627204895, 1.2491416931152344, -0.00027130701346322894, 0.00027130701346322894], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2145799994468689, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.3889143168926239, -1.80418860912323, 1.6149767637252808, -1.4620050191879272, 1.201075792312622, 1.2418936491012573, -0.0003129917604383081, 0.0003129917604383081], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2157244235277176, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.3999771177768707, -1.800755262374878, 1.6008621454238892, -1.4597162008285522, 1.202601671218872, 1.2350270748138428, -0.0005587444175034761, 0.0005587444175034761], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2161058932542801, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.4068436622619629, -1.797703504562378, 1.5844587087631226, -1.4600976705551147, 1.2029831409454346, 1.2342641353607178, -0.0012540173484012485, 0.0012540173484012485], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21648737788200378, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1180666834115982, -3.426579860388301e-05, 3.426579860388301e-05, 0.40989547967910767, -1.796177625656128, 1.5669108629226685, -1.4600976705551147, 1.199549913406372, 1.2342641353607178, -0.003171013668179512, 0.003171013668179512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21648737788200378, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.41218432784080505, -1.794651746749878, 1.5497443675994873, -1.4600976705551147, 1.189631462097168, 1.2342641353607178, -0.00601705489680171, 0.00601705489680171], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21648737788200378, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.41294726729393005, -1.793125867843628, 1.5360113382339478, -1.4600976705551147, 1.1751353740692139, 1.2346456050872803, -0.009577403776347637, 0.009577403776347637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21648737788200378, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6368734240531921, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.41371023654937744, -1.7835888862609863, 1.5257114171981812, -1.4604791402816772, 1.1541543006896973, 1.2346456050872803, -0.011133447289466858, 0.011133447289466858], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21648737788200378, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.41371023654937744, -1.743533968925476, 1.5093079805374146, -1.4604791402816772, 1.1095216274261475, 1.2380788326263428, -0.011689936742186546, 0.011689936742186546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21648737788200378, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.41103988885879517, -1.6737239360809326, 1.4753566980361938, -1.4600976705551147, 1.0618371963500977, 1.2483787536621094, -0.011698449961841106, 0.011698449961841106], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21648737788200378, -0.5846112966537476, 0.17681391537189484, -0.41485464572906494, -0.6364919543266296, 0.1184481605887413, -3.426579860388301e-05, 3.426579860388301e-05, 0.4087510406970978, -1.567292332649231, 1.3975356817245483, -1.4600976705551147, 0.9920271635055542, 1.2621119022369385, -0.005590460263192654, 0.005590460263192654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.212672621011734, -0.5888075232505798, 0.1832990050315857, -0.41447317600250244, -0.6368734240531921, 0.11654078215360641, -3.426579860388301e-05, 3.426579860388301e-05, 0.4217212200164795, -1.430724024772644, 1.2636377811431885, -1.4620050191879272, 0.8852140307426453, 1.27775239944458, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1802472025156021, -0.6124590039253235, 0.2134355753660202, -0.3881513774394989, -0.6345845460891724, 0.07267109304666519, -3.426579860388301e-05, 3.426579860388301e-05, 0.4503318965435028, -1.2747005224227905, 1.0931181907653809, -1.4597162008285522, 0.7539864182472229, 1.3044556379318237, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12569619715213776, -0.6815060377120972, 0.2939268946647644, -0.24319066107273102, -0.6303883194923401, -0.06504157930612564, -3.426579860388301e-05, 3.426579860388301e-05, 0.4999237060546875, -1.104180932044983, 0.9058136940002441, -1.4600976705551147, 0.6090257167816162, 1.3471808433532715, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08258945494890213, -0.7841230034828186, 0.4015030264854431, -0.02079041674733162, -0.6219958662986755, -0.25577935576438904, -3.426579860388301e-05, 3.426579860388301e-05, 0.5548561811447144, -0.9489204287528992, 0.7429236173629761, -1.4589532613754272, 0.4728389382362366, 1.4009689092636108, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06275273114442825, -0.8947508931159973, 0.5144197940826416, 0.2569237947463989, -0.5956740379333496, -0.49114975333213806, -3.426579860388301e-05, 3.426579860388301e-05, 0.6052109599113464, -0.8031967878341675, 0.5968185067176819, -1.4593347311019897, 0.32673379778862, 1.4646753072738647, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.049782559275627136, -1.0049973726272583, 0.619325578212738, 0.5048828721046448, -0.5804150700569153, -0.6944762468338013, -3.426579860388301e-05, 3.426579860388301e-05, 0.654421329498291, -0.689517080783844, 0.47589075565338135, -1.4593347311019897, 0.18673227727413177, 1.5295262336730957, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.023079270496964455, -1.124399185180664, 0.7291905283927917, 0.655184268951416, -0.6124590039253235, -0.8169298768043518, -4.7532124881399795e-05, 4.7532124881399795e-05, 0.692568838596344, -0.6258106231689453, 0.3904402256011963, -1.4593347311019897, 0.07305257022380829, 1.571869969367981, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.004005493130534887, -1.2418936491012573, 0.8337147831916809, 0.7524605393409729, -0.6868467330932617, -0.9027618765830994, -0.006630317308008671, 0.006630317308008671, 0.7242313027381897, -0.5956740379333496, 0.3274967670440674, -1.4593347311019897, -0.01773861236870289, 1.6035324335098267, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.021553369238972664, -1.3281071186065674, 0.9153505563735962, 0.8592736721038818, -0.726901650428772, -0.9920271635055542, -0.014741252176463604, 0.014741252176463604, 0.7467383742332458, -0.5815594792366028, 0.2813382148742676, -1.4593347311019897, -0.10433356463909149, 1.6214618682861328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.037193864583969116, -1.3883802890777588, 0.9748607873916626, 0.9386205673217773, -0.7467383742332458, -1.0553520917892456, -0.01918371208012104, 0.01918371208012104, 0.7612344622612, -0.5746929049491882, 0.24357213079929352, -1.4593347311019897, -0.16994735598564148, 1.6344319581985474, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05130846053361893, -1.4345388412475586, 1.0160601139068604, 0.9866865277290344, -0.7623788714408875, -1.0942625999450684, -0.02137625962495804, 0.02137625962495804, 0.7696269154548645, -0.5724040865898132, 0.22182802855968475, -1.4597162008285522, -0.20733195543289185, 1.640535593032837, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.059319447726011276, -1.4730678796768188, 1.0465781688690186, 1.0130083560943604, -0.7654306888580322, -1.1087586879730225, -0.021625330671668053, 0.021625330671668053, 0.7722972631454468, -0.5754558444023132, 0.21152819693088531, -1.4593347311019897, -0.230601966381073, 1.647783637046814, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05970092490315437, -1.5047303438186646, 1.0698481798171997, 1.0271228551864624, -0.768482506275177, -1.1160067319869995, -0.021625330671668053, 0.021625330671668053, 0.775730550289154, -0.5830853581428528, 0.20771344006061554, -1.4597162008285522, -0.24242770671844482, 1.6512168645858765, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05397878959774971, -1.5264743566513062, 1.0889219045639038, 1.038185715675354, -0.767719566822052, -1.1224918365478516, -0.021615363657474518, 0.021615363657474518, 0.775730550289154, -0.5888075232505798, 0.20580606162548065, -1.4597162008285522, -0.2470054179430008, 1.654268741607666, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04558632895350456, -1.5409704446792603, 1.1045624017715454, 1.041237473487854, -0.7631418108940125, -1.123636245727539, -0.021615363657474518, 0.021615363657474518, 0.776493489742279, -0.5922408103942871, 0.20542457699775696, -1.4597162008285522, -0.25310903787612915, 1.654268741607666, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03833829239010811, -1.5527962446212769, 1.116388201713562, 1.0450522899627686, -0.7600900530815125, -1.127450942993164, -0.021615363657474518, 0.021615363657474518, 0.776493489742279, -0.5945296287536621, 0.20542457699775696, -1.4600976705551147, -0.25501641631126404, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03147173300385475, -1.5650033950805664, 1.1240177154541016, 1.0450522899627686, -0.7551308274269104, -1.1343175172805786, -0.021605398505926132, 0.021605398505926132, 0.776493489742279, -0.5968185067176819, 0.20542457699775696, -1.4600976705551147, -0.2573052644729614, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.02727550081908703, -1.5756847858428955, 1.1278324127197266, 1.045433759689331, -0.7486457824707031, -1.1381323337554932, -0.021595435217022896, 0.021595435217022896, 0.776493489742279, -0.5987258553504944, 0.20542457699775696, -1.4600976705551147, -0.2580682039260864, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.023460745811462402, -1.58560311794281, 1.1301213502883911, 1.0481040477752686, -0.7436865568161011, -1.1423285007476807, -0.021595435217022896, 0.021595435217022896, 0.776493489742279, -0.6002517938613892, 0.20542457699775696, -1.4600976705551147, -0.2576867341995239, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01735713705420494, -1.592088222503662, 1.1312657594680786, 1.047722578048706, -0.734149694442749, -1.1457618474960327, -0.021595435217022896, 0.021595435217022896, 0.776493489742279, -0.6010147333145142, 0.20542457699775696, -1.4600976705551147, -0.2576867341995239, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.014686808921396732, -1.5962843894958496, 1.1331731081008911, 1.0481040477752686, -0.7242313027381897, -1.1499580144882202, -0.02155558206140995, 0.02155558206140995, 0.776493489742279, -0.6021591424942017, 0.20580606162548065, -1.4600976705551147, -0.2580682039260864, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01201647985726595, -1.5993362665176392, 1.1339360475540161, 1.0481040477752686, -0.7177462577819824, -1.1530098915100098, -0.021087469533085823, 0.021087469533085823, 0.776493489742279, -0.6025406122207642, 0.20618753135204315, -1.4600976705551147, -0.2576867341995239, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.00858320016413927, -1.6031509637832642, 1.1350804567337036, 1.0465781688690186, -0.7135500311851501, -1.1564431190490723, -0.020450949668884277, 0.020450949668884277, 0.776493489742279, -0.6029220819473267, 0.20656901597976685, -1.4600976705551147, -0.2580682039260864, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.00476844422519207, -1.6062028408050537, 1.1362248659133911, 1.048485517501831, -0.7089722752571106, -1.1572060585021973, -0.020182883366942406, 0.020182883366942406, 0.776493489742279, -0.6044480204582214, 0.20656901597976685, -1.4604791402816772, -0.2584496736526489, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0024795911740511656, -1.6096360683441162, 1.1388952732086182, 1.047722578048706, -0.7059205174446106, -1.1602579355239868, -0.018966997042298317, 0.018966997042298317, 0.776493489742279, -0.6048294901847839, 0.20695048570632935, -1.4604791402816772, -0.2588311731815338, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0078202486038208, -1.6115434169769287, 1.1411840915679932, 1.047722578048706, -0.7021057605743408, -1.1648355722427368, -0.015731368213891983, 0.015731368213891983, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4604791402816772, -0.2592126429080963, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -1.6126878261566162, 1.1442358493804932, 1.047722578048706, -0.6948577165603638, -1.1682689189910889, -0.010101464577019215, 0.010101464577019215, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4604791402816772, -0.2595941126346588, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01926451548933983, -1.6126878261566162, 1.1461433172225952, 1.0465781688690186, -0.6849393248558044, -1.1755168437957764, -0.002884593093767762, 0.002884593093767762, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4604791402816772, -0.2599755823612213, 1.654268741607666, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.022697795182466507, -1.6115434169769287, 1.1488136053085327, 1.047722578048706, -0.6788357496261597, -1.183146357536316, -0.0005333379376679659, 0.0005333379376679659, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4604791402816772, -0.2622644305229187, 1.6538872718811035, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.032616160809993744, -1.6004806756973267, 1.1533913612365723, 1.047722578048706, -0.6727321147918701, -1.191157341003418, -0.000536960840690881, 0.000536960840690881, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4604791402816772, -0.2634088695049286, 1.6531243324279785, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.048638131469488144, -1.579880952835083, 1.1579689979553223, 1.0481040477752686, -0.6727321147918701, -1.1999313831329346, -0.0005333379376679659, 0.0005333379376679659, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4608606100082397, -0.2660791873931885, 1.6496909856796265, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07534141838550568, -1.5577553510665894, 1.1675058603286743, 1.047722578048706, -0.6723506450653076, -1.2186236381530762, -0.0005333379376679659, 0.0005333379376679659, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4608606100082397, -0.266460657119751, 1.6466392278671265, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11196307092905045, -1.5421148538589478, 1.1861982345581055, 1.047722578048706, -0.6719691753387451, -1.2399863004684448, -0.0005333379376679659, 0.0005333379376679659, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4604791402816772, -0.26684215664863586, 1.6466392278671265, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15316243469715118, -1.5375372171401978, 1.2125200033187866, 1.0488669872283936, -0.6723506450653076, -1.264782190322876, -0.0005333379376679659, 0.0005333379376679659, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4604791402816772, -0.26684215664863586, 1.6466392278671265, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20618753135204315, -1.5428777933120728, 1.2479972839355469, 1.1152437925338745, -0.6727321147918701, -1.3345922231674194, -0.0005333379376679659, 0.0005333379376679659, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4604791402816772, -0.266460657119751, 1.6466392278671265, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25463491678237915, -1.5558480024337769, 1.2811856269836426, 1.1919203996658325, -0.6761654019355774, -1.409742832183838, -0.0005333379376679659, 0.0005333379376679659, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4604791402816772, -0.2653162479400635, 1.6466392278671265, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2904936373233795, -1.574540376663208, 1.3090333938598633, 1.2392233610153198, -0.6776912808418274, -1.4665827751159668, -0.000536960840690881, 0.000536960840690881, 0.776493489742279, -0.6055924296379089, 0.20695048570632935, -1.4604791402816772, -0.2634088695049286, 1.647020697593689, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3244449496269226, -1.5978103876113892, 1.334973692893982, 1.264019250869751, -0.6776912808418274, -1.5127413272857666, -0.0005333379376679659, 0.0005333379376679659, 0.776493489742279, -0.6055924296379089, 0.20656901597976685, -1.4604791402816772, -0.2634088695049286, 1.6481651067733765, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3564889132976532, -1.6256580352783203, 1.3586251735687256, 1.27775239944458, -0.6803616285324097, -1.5497443675994873, -0.0005333379376679659, 0.0005333379376679659, 0.776493489742279, -0.6055924296379089, 0.20656901597976685, -1.4600976705551147, -0.2630273997783661, 1.6519798040390015, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.38128480315208435, -1.6577019691467285, 1.3826581239700317, 1.2891966104507446, -0.6799801588058472, -1.584840178489685, -0.0005333379376679659, 0.0005333379376679659, 0.776493489742279, -0.6055924296379089, 0.20656901597976685, -1.4600976705551147, -0.2611200213432312, 1.655031681060791, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.404173344373703, -1.6943236589431763, 1.405928134918213, 1.2930114269256592, -0.6795986890792847, -1.6180285215377808, -0.0005988877383060753, 0.0005988877383060753, 0.776493489742279, -0.6055924296379089, 0.20656901597976685, -1.4600976705551147, -0.2592126429080963, 1.6584649085998535, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42515450716018677, -1.723697304725647, 1.425001859664917, 1.2960631847381592, -0.6792172193527222, -1.643587350845337, -0.008445000275969505, 0.008445000275969505, 0.776493489742279, -0.6059738993644714, 0.20656901597976685, -1.4600976705551147, -0.2569237947463989, 1.6618982553482056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44422826170921326, -1.738956332206726, 1.4398794174194336, 1.2987334728240967, -0.6723506450653076, -1.658083438873291, -0.016529016196727753, 0.016529016196727753, 0.776493489742279, -0.6059738993644714, 0.20656901597976685, -1.4600976705551147, -0.25272753834724426, 1.662279725074768, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46330204606056213, -1.730945348739624, 1.4459830522537231, 1.2991149425506592, -0.6639581918716431, -1.662279725074768, -0.019865645095705986, 0.019865645095705986, 0.776493489742279, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.25234606862068176, 1.662279725074768, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47779813408851624, -1.6996643543243408, 1.434157371520996, 1.2991149425506592, -0.6578545570373535, -1.639009714126587, -0.008230176754295826, 0.008230176754295826, 0.776493489742279, -0.6059738993644714, 0.20656901597976685, -1.4600976705551147, -0.25196459889411926, 1.662279725074768, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.481612890958786, -1.662279725074768, 1.4021133184432983, 1.2991149425506592, -0.6582360863685608, -1.6165026426315308, -0.0004828485834877938, 0.0004828485834877938, 0.776493489742279, -0.6059738993644714, 0.20656901597976685, -1.4600976705551147, -0.25158312916755676, 1.662279725074768, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4732204079627991, -1.6268024444580078, 1.3632028102874756, 1.2998778820037842, -0.657473087310791, -1.6020065546035767, -0.00012446616892702878, 0.00012446616892702878, 0.776493489742279, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.25158312916755676, 1.6618982553482056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46177613735198975, -1.596665859222412, 1.3281071186065674, 1.2994964122772217, -0.6593804955482483, -1.5844587087631226, -0.00012446616892702878, 0.00012446616892702878, 0.776493489742279, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.25158312916755676, 1.6618982553482056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44232088327407837, -1.581406831741333, 1.3132295608520508, 1.2998778820037842, -0.7028687000274658, -1.5569924116134644, -0.00012446616892702878, 0.00012446616892702878, 0.776493489742279, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.25120165944099426, 1.6618982553482056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42820629477500916, -1.5730143785476685, 1.3063629865646362, 1.345273494720459, -0.7501716613769531, -1.560807228088379, -0.00012446616892702878, 0.00012446616892702878, 0.776493489742279, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.25120165944099426, 1.6618982553482056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4335469603538513, -1.568818211555481, 1.3029297590255737, 1.4112688302993774, -0.7906080484390259, -1.5939955711364746, -0.00012446616892702878, 0.00012446616892702878, 0.776493489742279, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.25120165944099426, 1.6618982553482056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4369802474975586, -1.5676738023757935, 1.3017853498458862, 1.4574273824691772, -0.812352180480957, -1.6199358701705933, -0.00098403578158468, 0.00098403578158468, 0.7761120200157166, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.25120165944099426, 1.6618982553482056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.438506156206131, -1.567292332649231, 1.3017853498458862, 1.4868009090423584, -0.8318074345588684, -1.639772653579712, -0.011511716060340405, 0.011511716060340405, 0.7753490209579468, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.25120165944099426, 1.662279725074768, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44346532225608826, -1.567292332649231, 1.3017853498458862, 1.49786376953125, -0.846684992313385, -1.6512168645858765, -0.01528996229171753, 0.01528996229171753, 0.7753490209579468, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.25120165944099426, 1.665331482887268, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4491874575614929, -1.567292332649231, 1.3033112287521362, 1.5135042667388916, -0.8581292629241943, -1.663042664527893, -0.017153238877654076, 0.017153238877654076, 0.7753490209579468, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.2508201599121094, 1.6657129526138306, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4640650153160095, -1.569581151008606, 1.3078888654708862, 1.5585182905197144, -0.8669031858444214, -1.6886014938354492, -0.01873103529214859, 0.01873103529214859, 0.7745860815048218, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.2508201599121094, 1.6664758920669556, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47894254326820374, -1.575303316116333, 1.3166629076004028, 1.6012436151504517, -0.8859769701957703, -1.7092012166976929, -0.01912456937134266, 0.01912456937134266, 0.7745860815048218, -0.6059738993644714, 0.20656901597976685, -1.4604791402816772, -0.25120165944099426, 1.6691462993621826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4846646785736084, -1.5836957693099976, 1.3250553607940674, 1.6306172609329224, -0.8962767720222473, -1.7214083671569824, -0.019875550642609596, 0.019875550642609596, 0.7745860815048218, -0.6063553690910339, 0.20656901597976685, -1.4604791402816772, -0.25158312916755676, 1.6691462993621826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49267566204071045, -1.594377040863037, 1.3300144672393799, 1.644350290298462, -0.9000915288925171, -1.7221713066101074, -0.019875550642609596, 0.019875550642609596, 0.7745860815048218, -0.6067368388175964, 0.20656901597976685, -1.4604791402816772, -0.25196459889411926, 1.6691462993621826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4991607666015625, -1.6046768426895142, 1.332684874534607, 1.6531243324279785, -0.9058136940002441, -1.7221713066101074, -0.019875550642609596, 0.019875550642609596, 0.7745860815048218, -0.6067368388175964, 0.20656901597976685, -1.4600976705551147, -0.25234606862068176, 1.6691462993621826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5022125840187073, -1.6126878261566162, 1.334210753440857, 1.662279725074768, -0.9073395729064941, -1.7221713066101074, -0.019875550642609596, 0.019875550642609596, 0.7745860815048218, -0.6067368388175964, 0.20656901597976685, -1.4604791402816772, -0.25234606862068176, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5106050372123718, -1.6168841123580933, 1.334973692893982, 1.6626611948013306, -0.9096284508705139, -1.721789836883545, -0.019875550642609596, 0.019875550642609596, 0.7745860815048218, -0.6071183085441589, 0.20656901597976685, -1.4604791402816772, -0.25310903787612915, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5125123858451843, -1.6203173398971558, 1.334973692893982, 1.663042664527893, -0.9103913903236389, -1.7214083671569824, -0.019875550642609596, 0.019875550642609596, 0.7745860815048218, -0.6074998378753662, 0.20656901597976685, -1.4604791402816772, -0.25501641631126404, 1.6699092388153076, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5125123858451843, -1.6229877471923828, 1.334973692893982, 1.666094422340393, -0.9107728600502014, -1.7214083671569824, -0.019875550642609596, 0.019875550642609596, 0.7745860815048218, -0.6074998378753662, 0.20656901597976685, -1.4604791402816772, -0.25539788603782654, 1.6710536479949951, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5136567950248718, -1.6256580352783203, 1.3353551626205444, 1.6657129526138306, -0.9103913903236389, -1.7214083671569824, -0.019865645095705986, 0.019865645095705986, 0.7745860815048218, -0.6074998378753662, 0.20656901597976685, -1.4600976705551147, -0.25501641631126404, 1.6725795269012451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5125123858451843, -1.6294728517532349, 1.3353551626205444, 1.666094422340393, -0.9107728600502014, -1.7214083671569824, -0.019855739548802376, 0.019855739548802376, 0.7745860815048218, -0.6074998378753662, 0.20656901597976685, -1.4604791402816772, -0.25501641631126404, 1.6725795269012451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5106050372123718, -1.6340504884719849, 1.3353551626205444, 1.666094422340393, -0.9107728600502014, -1.72102689743042, -0.019855739548802376, 0.019855739548802376, 0.7745860815048218, -0.6078813076019287, 0.20656901597976685, -1.4604791402816772, -0.25501641631126404, 1.6725795269012451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.509079098701477, -1.639009714126587, 1.3353551626205444, 1.666094422340393, -0.9111543297767639, -1.72102689743042, -0.019835932180285454, 0.019835932180285454, 0.7745860815048218, -0.6078813076019287, 0.20656901597976685, -1.4604791402816772, -0.25501641631126404, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5064088106155396, -1.6432058811187744, 1.335736632347107, 1.666094422340393, -0.9111543297767639, -1.72102689743042, -0.019826030358672142, 0.019826030358672142, 0.7745860815048218, -0.6078813076019287, 0.20656901597976685, -1.4604791402816772, -0.25501641631126404, 1.6725795269012451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5052643418312073, -1.647783637046814, 1.336499571800232, 1.666094422340393, -0.9111543297767639, -1.72102689743042, -0.01919357106089592, 0.01919357106089592, 0.7745860815048218, -0.6082627773284912, 0.20656901597976685, -1.4604791402816772, -0.25501641631126404, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5052643418312073, -1.650072455406189, 1.336499571800232, 1.666094422340393, -0.9111543297767639, -1.72102689743042, -0.018534783273935318, 0.018534783273935318, 0.7745860815048218, -0.6082627773284912, 0.20656901597976685, -1.4604791402816772, -0.25501641631126404, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5048828721046448, -1.6519798040390015, 1.336499571800232, 1.666094422340393, -0.9107728600502014, -1.72102689743042, -0.016797209158539772, 0.016797209158539772, 0.7745860815048218, -0.6086442470550537, 0.20656901597976685, -1.4604791402816772, -0.25501641631126404, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5045014023780823, -1.6523613929748535, 1.336499571800232, 1.666094422340393, -0.9107728600502014, -1.72102689743042, -0.016662975773215294, 0.016662975773215294, 0.7745860815048218, -0.6086442470550537, 0.20656901597976685, -1.4604791402816772, -0.25501641631126404, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5045014023780823, -1.6531243324279785, 1.336499571800232, 1.666094422340393, -0.9111543297767639, -1.72102689743042, -0.01628098636865616, 0.01628098636865616, 0.7745860815048218, -0.6086442470550537, 0.20656901597976685, -1.4604791402816772, -0.25501641631126404, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5045014023780823, -1.6531243324279785, 1.336499571800232, 1.666094422340393, -0.9111543297767639, -1.72102689743042, -0.015299315564334393, 0.015299315564334393, 0.7745860815048218, -0.6086442470550537, 0.20656901597976685, -1.4604791402816772, -0.25501641631126404, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5045014023780823, -1.6531243324279785, 1.336499571800232, 1.666094422340393, -0.9111543297767639, -1.72102689743042, -0.013871349394321442, 0.013871349394321442, 0.7745860815048218, -0.6086442470550537, 0.20656901597976685, -1.4604791402816772, -0.25539788603782654, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5045014023780823, -1.6531243324279785, 1.336499571800232, 1.666094422340393, -0.9111543297767639, -1.72102689743042, -0.012666855938732624, 0.012666855938732624, 0.7745860815048218, -0.6086442470550537, 0.20656901597976685, -1.4604791402816772, -0.25539788603782654, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5041199326515198, -1.6531243324279785, 1.336499571800232, 1.666094422340393, -0.9111543297767639, -1.72102689743042, -0.010481643490493298, 0.010481643490493298, 0.7745860815048218, -0.6086442470550537, 0.20656901597976685, -1.4604791402816772, -0.25577935576438904, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5041199326515198, -1.6531243324279785, 1.336499571800232, 1.666094422340393, -0.9111543297767639, -1.72102689743042, -0.009195869788527489, 0.009195869788527489, 0.7742046117782593, -0.6086442470550537, 0.20656901597976685, -1.4604791402816772, -0.25577935576438904, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5048828721046448, -1.6523613929748535, 1.336499571800232, 1.666094422340393, -0.9134432077407837, -1.72102689743042, -0.007324165664613247, 0.007324165664613247, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.25577935576438904, 1.6718165874481201, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5064088106155396, -1.649309515953064, 1.336499571800232, 1.666094422340393, -0.9138246774673462, -1.72102689743042, -0.0032580953557044268, 0.0032580953557044268, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.25616082549095154, 1.6718165874481201, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506790280342102, -1.647020697593689, 1.3361181020736694, 1.666094422340393, -0.9142061471939087, -1.72102689743042, -0.0005733110010623932, 0.0005733110010623932, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.25654229521751404, 1.6714351177215576, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.507553219795227, -1.6458762884140015, 1.3361181020736694, 1.666094422340393, -0.9142061471939087, -1.72102689743042, -0.0005587444175034761, 0.0005587444175034761, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.25616082549095154, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.509079098701477, -1.6451133489608765, 1.3361181020736694, 1.666094422340393, -0.9142061471939087, -1.72102689743042, -0.0005587444175034761, 0.0005587444175034761, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4600976705551147, -0.25616082549095154, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.509079098701477, -1.6451133489608765, 1.3361181020736694, 1.666094422340393, -0.9142061471939087, -1.72102689743042, -0.0005587444175034761, 0.0005587444175034761, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.25654229521751404, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5102235674858093, -1.6439688205718994, 1.335736632347107, 1.666094422340393, -0.9142061471939087, -1.717212200164795, -0.0005587444175034761, 0.0005587444175034761, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.25616082549095154, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5178530812263489, -1.6378653049468994, 1.3345922231674194, 1.6664758920669556, -0.918402373790741, -1.7126344442367554, -0.0005587444175034761, 0.0005587444175034761, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.25616082549095154, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -1.6309987306594849, 1.333447813987732, 1.666094422340393, -0.9290837049484253, -1.7050049304962158, -0.0005587444175034761, 0.0005587444175034761, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.25616082549095154, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5476081371307373, -1.6260395050048828, 1.3323034048080444, 1.6664758920669556, -0.9451056718826294, -1.6992828845977783, -0.0005623828037641943, 0.0005623828037641943, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4600976705551147, -0.25616082549095154, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5621042251586914, -1.6248950958251953, 1.3311588764190674, 1.666094422340393, -0.9493018984794617, -1.6973754167556763, -0.0005587444175034761, 0.0005587444175034761, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.25654229521751404, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5678263306617737, -1.6279468536376953, 1.3261997699737549, 1.666094422340393, -0.9557870030403137, -1.6943236589431763, -0.0005623828037641943, 0.0005623828037641943, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4600976705551147, -0.25654229521751404, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5685893297195435, -1.6344319581985474, 1.3197146654129028, 1.666094422340393, -0.9588387608528137, -1.6924163103103638, -0.0005587444175034761, 0.0005587444175034761, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4600976705551147, -0.25654229521751404, 1.6695277690887451, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.569733738899231, -1.642824411392212, 1.3155183792114258, 1.666094422340393, -0.9580758213996887, -1.6905088424682617, -0.0005623828037641943, 0.0005623828037641943, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.25654229521751404, 1.6691462993621826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.569733738899231, -1.650072455406189, 1.3136110305786133, 1.666094422340393, -0.9508277773857117, -1.6905088424682617, -0.0005587444175034761, 0.0005587444175034761, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.25654229521751404, 1.6691462993621826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.569733738899231, -1.6554131507873535, 1.3120851516723633, 1.666094422340393, -0.9447242021560669, -1.6908903121948242, -0.0005623828037641943, 0.0005623828037641943, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.2569237947463989, 1.6687648296356201, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5708781480789185, -1.658083438873291, 1.3117036819458008, 1.666094422340393, -0.9390020370483398, -1.6905088424682617, -0.0005660232855007052, 0.0005660232855007052, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4604791402816772, -0.2569237947463989, 1.6683833599090576, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5716410875320435, -1.647020697593689, 1.3109407424926758, 1.666094422340393, -0.9390020370483398, -1.6912717819213867, -0.011724005453288555, 0.011724005453288555, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4600976705551147, -0.2576867341995239, 1.6649500131607056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5788891315460205, -1.6042953729629517, 1.3094148635864258, 1.666094422340393, -0.9359502792358398, -1.6950865983963013, -0.020411215722560883, 0.020411215722560883, 0.7742046117782593, -0.6090257167816162, 0.20656901597976685, -1.4600976705551147, -0.2588311731815338, 1.6611353158950806, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5956740379333496, -1.5272372961044312, 1.2953002452850342, 1.6657129526138306, -0.9332799315452576, -1.6947051286697388, -0.02085856907069683, 0.02085856907069683, 0.7742046117782593, -0.6048294901847839, 0.20809490978717804, -1.4600976705551147, -0.2592126429080963, 1.6481651067733765, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.614366352558136, -1.427672266960144, 1.2594414949417114, 1.6657129526138306, -0.9321355223655701, -1.6927977800369263, -0.010793192312121391, 0.010793192312121391, 0.7715343236923218, -0.5846112966537476, 0.22068360447883606, -1.4600976705551147, -0.2504386901855469, 1.6229877471923828, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6258106231689453, -1.3223849534988403, 1.1942092180252075, 1.6657129526138306, -0.9302281141281128, -1.6874570846557617, -0.00014810248103458434, 0.00014810248103458434, 0.7532234787940979, -0.5567635893821716, 0.24967575073242188, -1.4604791402816772, -0.200083926320076, 1.5829328298568726, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.620851457118988, -1.2132829427719116, 1.098077416419983, 1.6657129526138306, -0.9088655114173889, -1.6905088424682617, -6.083200787543319e-05, 6.083200787543319e-05, 0.7162203192710876, -0.5334935784339905, 0.2939268946647644, -1.4604791402816772, -0.08945601433515549, 1.5295262336730957, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5773632526397705, -1.1064698696136475, 0.9790570139884949, 1.6054397821426392, -0.8741512298583984, -1.657320499420166, -6.416223186533898e-05, 6.416223186533898e-05, 0.6589990258216858, -0.5212863087654114, 0.35114824771881104, -1.4604791402816772, 0.06542305648326874, 1.4784084558486938, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4709315598011017, -1.027885913848877, 0.8604180812835693, 1.3860913515090942, -0.8607995510101318, -1.4852750301361084, -6.416223186533898e-05, 6.416223186533898e-05, 0.5804150700569153, -0.5216678380966187, 0.4064621925354004, -1.4608606100082397, 0.24204623699188232, 1.441023826599121, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3236820101737976, -0.9756237268447876, 0.7307164072990417, 1.1331731081008911, -0.8932250142097473, -1.275081992149353, -6.416223186533898e-05, 6.416223186533898e-05, 0.4835202693939209, -0.5498970150947571, 0.45986875891685486, -1.4631494283676147, 0.42935073375701904, 1.4238574504852295, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24319066107273102, -0.9496833682060242, 0.6380178332328796, 1.0042344331741333, -0.9111543297767639, -1.1518653631210327, -6.416223186533898e-05, 6.416223186533898e-05, 0.39883267879486084, -0.615129292011261, 0.5052643418312073, -1.4578088521957397, 0.6139848828315735, 1.3948653936386108, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20542457699775696, -0.9458686113357544, 0.5849927663803101, 0.9653238654136658, -0.924124538898468, -1.0893033742904663, -6.083200787543319e-05, 6.083200787543319e-05, 0.29850462079048157, -0.7150759100914001, 0.5373083353042603, -1.344510555267334, 0.7890821695327759, 1.2811856269836426, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19207294285297394, -0.951209306716919, 0.5525673031806946, 0.9420538544654846, -0.9328984618186951, -1.048485517501831, -6.416223186533898e-05, 6.416223186533898e-05, 0.2157244235277176, -0.8188372850418091, 0.5567635893821716, -1.2151904106140137, 0.9153505563735962, 1.1758984327316284, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18749523162841797, -0.955024003982544, 0.5331120491027832, 0.9306095838546753, -0.9355688095092773, -1.0240710973739624, -6.416223186533898e-05, 6.416223186533898e-05, 0.1684214472770691, -0.8989471197128296, 0.5674448609352112, -1.1434729099273682, 0.9916456937789917, 1.1232547760009766, -0.0005405859556049109, 0.0005405859556049109], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18635080754756927, -0.9576943516731262, 0.5209048390388489, 0.9187838435173035, -0.9374761581420898, -1.0107194185256958, -6.416223186533898e-05, 6.416223186533898e-05, 0.14820325374603271, -0.9435797929763794, 0.5735484957695007, -1.0946440696716309, 1.0336079597473145, 1.0973143577575684, -0.004869973286986351, 0.004869973286986351], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1848248988389969, -0.9626535177230835, 0.5125123858451843, 0.916113555431366, -0.9504463076591492, -0.9912642240524292, -6.416223186533898e-05, 6.416223186533898e-05, 0.1340886503458023, -0.9683756828308105, 0.5758373141288757, -1.0728999376296997, 1.052681803703308, 1.0774776935577393, -0.009389719925820827, 0.009389719925820827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17223620414733887, -0.9710460305213928, 0.5052643418312073, 0.8798733353614807, -0.9706645011901855, -0.954261064529419, -6.416223186533898e-05, 6.416223186533898e-05, 0.13027389347553253, -0.9824903011322021, 0.576981782913208, -1.054207682609558, 1.0805294513702393, 1.0629816055297852, -0.011920638382434845, 0.011920638382434845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.9866865277290344, 0.4991607666015625, 0.8230335116386414, -0.9924086332321167, -0.9065766334533691, -6.416223186533898e-05, 6.416223186533898e-05, 0.12607766687870026, -0.9931715726852417, 0.5735484957695007, -1.051155924797058, 1.0824369192123413, 1.0576409101486206, -0.015392938628792763, 0.015392938628792763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1340886503458023, -1.0019454956054688, 0.4961089491844177, 0.7890821695327759, -1.0049973726272583, -0.8848325610160828, -0.0036461357958614826, 0.0036461357958614826, 0.12531471252441406, -1.0084306001663208, 0.571259617805481, -1.042763352394104, 1.0858701467514038, 1.054207682609558, -0.018387839198112488, 0.018387839198112488], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11768520623445511, -1.0122454166412354, 0.49343863129615784, 0.7681010365486145, -1.0145342350006104, -0.8779659867286682, -0.009072696790099144, 0.009072696790099144, 0.12302586436271667, -1.0248340368270874, 0.569733738899231, -1.0423818826675415, 1.0835813283920288, 1.0538262128829956, -0.02016304060816765, 0.02016304060816765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10585946589708328, -1.0187304019927979, 0.49153125286102295, 0.7631418108940125, -1.0175859928131104, -0.8802548050880432, -0.01108338963240385, 0.01108338963240385, 0.12302586436271667, -1.0378042459487915, 0.568970799446106, -1.0393301248550415, 1.0824369192123413, 1.050774335861206, -0.02114720456302166, 0.02114720456302166], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1028076633810997, -1.0248340368270874, 0.49038681387901306, 0.7856488823890686, -1.0145342350006104, -0.9054322242736816, -0.013573353178799152, 0.013573353178799152, 0.12302586436271667, -1.0473411083221436, 0.5685893297195435, -1.038948655128479, 1.0782406330108643, 1.049248456954956, -0.022930366918444633, 0.022930366918444633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11234454810619354, -1.033989429473877, 0.49267566204071045, 0.8020523190498352, -1.0057603120803833, -0.916876494884491, -0.014217211864888668, 0.014217211864888668, 0.12302586436271667, -1.0603113174438477, 0.568970799446106, -1.038948655128479, 1.0660333633422852, 1.046196699142456, -0.023288443684577942, 0.023288443684577942], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1325627565383911, -1.0488669872283936, 0.50030517578125, 0.8085374236106873, -1.0061417818069458, -0.9267948269844055, -0.01528061181306839, 0.01528061181306839, 0.12302586436271667, -1.0744259357452393, 0.5685893297195435, -1.0385671854019165, 1.0633630752563477, 1.0423818826675415, -0.02355668507516384, 0.02355668507516384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15735866129398346, -1.0690852403640747, 0.5102235674858093, 0.8134965896606445, -1.0049973726272583, -0.9309910535812378, -0.015835201367735863, 0.015835201367735863, 0.12302586436271667, -1.0828183889389038, 0.5685893297195435, -1.0385671854019165, 1.053444743156433, 1.039711594581604, -0.025382839143276215, 0.025382839143276215], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17643244564533234, -1.0858701467514038, 0.5163271427154541, 0.8169298768043518, -1.0023269653320312, -0.9321355223655701, -0.017095381394028664, 0.017095381394028664, 0.12455176562070847, -1.0885404348373413, 0.5682078003883362, -1.0378042459487915, 1.043907880783081, 1.038948655128479, -0.025510119274258614, 0.025510119274258614], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18825818598270416, -1.098077416419983, 0.5201418995857239, 0.8196002244949341, -1.0019454956054688, -0.9348058104515076, -0.017095381394028664, 0.017095381394028664, 0.12760357558727264, -1.0923552513122559, 0.5682078003883362, -1.0355154275894165, 1.0385671854019165, 1.0355154275894165, -0.025510119274258614, 0.025510119274258614], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1977950781583786, -1.1053253412246704, 0.5216678380966187, 0.8199816942214966, -1.0008010864257812, -0.9348058104515076, -0.017095381394028664, 0.017095381394028664, 0.12874799966812134, -1.0954070091247559, 0.5678263306617737, -1.033226490020752, 1.033989429473877, 1.0328450202941895, -0.025500334799289703, 0.025500334799289703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20313572883605957, -1.109140157699585, 0.5224307775497437, 0.8199816942214966, -1.0008010864257812, -0.9348058104515076, -0.017095381394028664, 0.017095381394028664, 0.13141833245754242, -1.098840355873108, 0.5670633912086487, -1.0313191413879395, 1.027885913848877, 1.0320820808410645, -0.025500334799289703, 0.025500334799289703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20618753135204315, -1.1110475063323975, 0.5224307775497437, 0.8199816942214966, -1.0011825561523438, -0.9348058104515076, -0.017095381394028664, 0.017095381394028664, 0.1363775134086609, -1.0999847650527954, 0.5647745728492737, -1.031700611114502, 1.0206378698349, 1.0282673835754395, -0.025490548461675644, 0.025490548461675644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20809490978717804, -1.112191915512085, 0.5224307775497437, 0.8207446336746216, -1.0008010864257812, -0.9348058104515076, -0.017095381394028664, 0.017095381394028664, 0.14476996660232544, -1.101892113685608, 0.5636301040649414, -1.0320820808410645, 1.0126268863677979, 1.024452567100525, -0.025294627994298935, 0.025294627994298935], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21076524257659912, -1.11295485496521, 0.5224307775497437, 0.8215075731277466, -1.0011825561523438, -0.9348058104515076, -0.017095381394028664, 0.017095381394028664, 0.15316243469715118, -1.102655053138733, 0.5621042251586914, -1.0355154275894165, 1.0088120698928833, 1.0240710973739624, -0.025108153000473976, 0.025108153000473976], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21229113638401031, -1.1137179136276245, 0.5224307775497437, 0.8218890428543091, -1.0015640258789062, -0.9348058104515076, -0.017095381394028664, 0.017095381394028664, 0.16079194843769073, -1.1030365228652954, 0.5605783462524414, -1.0351338386535645, 1.0015640258789062, 1.0233081579208374, -0.024517249315977097, 0.024517249315977097], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2145799994468689, -1.116388201713562, 0.5224307775497437, 0.8218890428543091, -1.0011825561523438, -0.9351872801780701, -0.017095381394028664, 0.017095381394028664, 0.1676585078239441, -1.1030365228652954, 0.5601968169212341, -1.0355154275894165, 0.9992752075195312, 1.0210193395614624, -0.024507377296686172, 0.024507377296686172], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21648737788200378, -1.1205843687057495, 0.5231937170028687, 0.8218890428543091, -1.0004196166992188, -0.9351872801780701, -0.017095381394028664, 0.017095381394028664, 0.17528800666332245, -1.103417992591858, 0.5598153471946716, -1.035896897315979, 0.9954604506492615, 1.0206378698349, -0.023606322705745697, 0.023606322705745697], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22182802855968475, -1.1285953521728516, 0.5289158225059509, 0.8215075731277466, -0.9988937377929688, -0.9359502792358398, -0.017095381394028664, 0.017095381394028664, 0.1840619444847107, -1.103417992591858, 0.5598153471946716, -1.0370413064956665, 0.9920271635055542, 1.0206378698349, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23594263195991516, -1.1408026218414307, 0.5392156839370728, 0.8203631639480591, -0.9985122680664062, -0.9390020370483398, -0.017095381394028664, 0.017095381394028664, 0.19054703414440155, -1.103417992591858, 0.5598153471946716, -1.0378042459487915, 0.9893568158149719, 1.0206378698349, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25272753834724426, -1.1568245887756348, 0.5518043637275696, 0.8203631639480591, -0.9969863295555115, -0.9428167939186096, -0.017095381394028664, 0.017095381394028664, 0.19512474536895752, -1.103417992591858, 0.5598153471946716, -1.0385671854019165, 0.9863049983978271, 1.0206378698349, -0.022990074008703232, 0.022990074008703232], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2634088695049286, -1.1705577373504639, 0.5601968169212341, 0.8203631639480591, -0.995078980922699, -0.9466315507888794, -0.017095381394028664, 0.017095381394028664, 0.1993209719657898, -1.103417992591858, 0.5598153471946716, -1.0385671854019165, 0.9828717708587646, 1.0210193395614624, -0.022342810407280922, 0.022342810407280922], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.27103838324546814, -1.179331660270691, 0.5663004517555237, 0.8196002244949341, -0.9954604506492615, -0.9473945498466492, -0.017085744068026543, 0.017085744068026543, 0.20351719856262207, -1.103417992591858, 0.5598153471946716, -1.0385671854019165, 0.9809643626213074, 1.0210193395614624, -0.022342810407280922, 0.022342810407280922], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2809567451477051, -1.1869611740112305, 0.5727855563163757, 0.8192187547683716, -0.9954604506492615, -0.9500648379325867, -0.01707610674202442, 0.01707610674202442, 0.20885786414146423, -1.103417992591858, 0.5598153471946716, -1.037422776222229, 0.9760051965713501, 1.0210193395614624, -0.02173493802547455, 0.02173493802547455], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2912565767765045, -1.195353627204895, 0.580033540725708, 0.8188372850418091, -0.9954604506492615, -0.9500648379325867, -0.017056837677955627, 0.017056837677955627, 0.2138170450925827, -1.103417992591858, 0.5601968169212341, -1.038185715675354, 0.9710460305213928, 1.0210193395614624, -0.02090831659734249, 0.02090831659734249], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2977416515350342, -1.2052719593048096, 0.5865186452865601, 0.8180742859840393, -0.995841920375824, -0.9500648379325867, -0.016548138111829758, 0.016548138111829758, 0.22030213475227356, -1.1045624017715454, 0.5601968169212341, -1.0378042459487915, 0.9645609259605408, 1.0210193395614624, -0.019045758992433548, 0.019045758992433548], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.30193790793418884, -1.2125200033187866, 0.5910963416099548, 0.8173113465309143, -0.995841920375824, -0.9496833682060242, -0.01512190606445074, 0.01512190606445074, 0.2298390120267868, -1.1053253412246704, 0.5601968169212341, -1.038948655128479, 0.951209306716919, 1.0210193395614624, -0.015778541564941406, 0.015778541564941406], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.30422675609588623, -1.2174792289733887, 0.5933852195739746, 0.8188372850418091, -0.995078980922699, -0.9496833682060242, -0.012825176119804382, 0.012825176119804382, 0.23899443447589874, -1.1053253412246704, 0.5605783462524414, -1.0400930643081665, 0.9332799315452576, 1.024452567100525, -0.012833992950618267, 0.012833992950618267], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3057526648044586, -1.2197680473327637, 0.5941481590270996, 0.8249408602714539, -0.9912642240524292, -0.9496833682060242, -0.008512144908308983, 0.008512144908308983, 0.2443350851535797, -1.1053253412246704, 0.5609598159790039, -1.0442893505096436, 0.9180209040641785, 1.0290303230285645, -0.009389719925820827, 0.009389719925820827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3057526648044586, -1.2209124565124512, 0.5952925682067871, 0.8276112079620361, -0.9912642240524292, -0.9496833682060242, -0.0006874055834487081, 0.0006874055834487081, 0.2466239482164383, -1.1037994623184204, 0.5621042251586914, -1.0450522899627686, 0.9039062857627869, 1.032463550567627, -0.002066659741103649, 0.002066659741103649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3057526648044586, -1.2197680473327637, 0.5956740379333496, 0.8268482685089111, -0.9916456937789917, -0.9496833682060242, -0.0005478427046909928, 0.0005478427046909928, 0.247768372297287, -1.0957884788513184, 0.5621042251586914, -1.0423818826675415, 0.8894102573394775, 1.0351338386535645, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.30193790793418884, -1.204127550125122, 0.5964370369911194, 0.8249408602714539, -0.9931715726852417, -0.9496833682060242, -0.0005478427046909928, 0.0005478427046909928, 0.247768372297287, -1.0641260147094727, 0.5651560425758362, -1.0393301248550415, 0.8775845170021057, 1.0378042459487915, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28973066806793213, -1.1675058603286743, 0.5987258553504944, 0.8226520419120789, -0.9954604506492615, -0.9500648379325867, -0.0005478427046909928, 0.0005478427046909928, 0.247768372297287, -1.0164415836334229, 0.5750743746757507, -1.0393301248550415, 0.8768215179443359, 1.0400930643081665, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.27141985297203064, -1.1190584897994995, 0.6044480204582214, 0.8207446336746216, -0.996604859828949, -0.9500648379325867, -0.0005478427046909928, 0.0005478427046909928, 0.24891279637813568, -0.9760051965713501, 0.5857557058334351, -1.038948655128479, 0.8783474564552307, 1.0400930643081665, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.247768372297287, -1.0717555284500122, 0.6147478222846985, 0.8203631639480591, -0.9988937377929688, -0.9481574892997742, -0.0005442132242023945, 0.0005442132242023945, 0.25387197732925415, -0.9462500810623169, 0.5907148718833923, -1.038948655128479, 0.8726252913475037, 1.0336079597473145, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21915769577026367, -1.0378042459487915, 0.6261920928955078, 0.8207446336746216, -0.9988937377929688, -0.9378576278686523, -0.0005478427046909928, 0.0005478427046909928, 0.2592126429080963, -0.9279392957687378, 0.5930037498474121, -1.037422776222229, 0.84744793176651, 1.0164415836334229, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18558785319328308, -1.019874930381775, 0.6380178332328796, 0.8211261034011841, -0.9988937377929688, -0.9306095838546753, -0.0005478427046909928, 0.0005478427046909928, 0.2615014910697937, -0.916876494884491, 0.5937666893005371, -1.037422776222229, 0.810826301574707, 1.0049973726272583, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15735866129398346, -1.0122454166412354, 0.6517509818077087, 0.8218890428543091, -0.9985122680664062, -0.925650417804718, -0.0005478427046909928, 0.0005478427046909928, 0.2641718089580536, -0.9122987985610962, 0.5937666893005371, -1.036659836769104, 0.770771324634552, 0.994316041469574, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14209964871406555, -1.0160601139068604, 0.6700618267059326, 0.8215075731277466, -0.9946975111961365, -0.9180209040641785, -0.0005478427046909928, 0.0005478427046909928, 0.2641718089580536, -0.9119172692298889, 0.5952925682067871, -1.0370413064956665, 0.726138710975647, 0.9870679974555969, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13904783129692078, -1.0343708992004395, 0.6929503083229065, 0.8207446336746216, -0.9771496057510376, -0.9153505563735962, -0.0005478427046909928, 0.0005478427046909928, 0.2645532786846161, -0.9267948269844055, 0.6048294901847839, -1.036659836769104, 0.6860837936401367, 0.9828717708587646, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1489662081003189, -1.0614557266235352, 0.7207980751991272, 0.8211261034011841, -0.9462500810623169, -0.9153505563735962, -0.0005442132242023945, 0.0005442132242023945, 0.2645532786846161, -0.959983229637146, 0.6246662139892578, -1.0370413064956665, 0.6525139212608337, 0.9802014231681824, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16002899408340454, -1.0961699485778809, 0.7547493577003479, 0.8203631639480591, -0.9195467829704285, -0.9157320261001587, -0.0005478427046909928, 0.0005478427046909928, 0.2641718089580536, -1.0008010864257812, 0.650225043296814, -1.0378042459487915, 0.6189440488815308, 0.9805828928947449, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1661325991153717, -1.1278324127197266, 0.7856488823890686, 0.8207446336746216, -0.892080545425415, -0.9172579646110535, -0.0005478427046909928, 0.0005478427046909928, 0.2641718089580536, -1.0473411083221436, 0.6826505064964294, -1.0378042459487915, 0.5884260535240173, 0.9840161800384521, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16956588625907898, -1.1583504676818848, 0.8150225281715393, 0.8211261034011841, -0.8634698987007141, -0.9199283123016357, -0.0005442132242023945, 0.0005442132242023945, 0.2637903392314911, -1.0969328880310059, 0.7204165458679199, -1.0378042459487915, 0.5674448609352112, 0.9847791194915771, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17032882571220398, -1.1854352951049805, 0.841725766658783, 0.8211261034011841, -0.8447775840759277, -0.9199283123016357, -0.0005478427046909928, 0.0005478427046909928, 0.2634088695049286, -1.1438543796539307, 0.7570382356643677, -1.0378042459487915, 0.5479896068572998, 0.9912642240524292, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1684214472770691, -1.2125200033187866, 0.8665217161178589, 0.8207446336746216, -0.8356221914291382, -0.9195467829704285, -0.0005478427046909928, 0.0005478427046909928, 0.2630273997783661, -1.1854352951049805, 0.7928969264030457, -1.0378042459487915, 0.535400927066803, 0.995078980922699, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1668955534696579, -1.2403677701950073, 0.8878843188285828, 0.8211261034011841, -0.8253223299980164, -0.9187838435173035, -0.0005478427046909928, 0.0005478427046909928, 0.2626459002494812, -1.2201495170593262, 0.8215075731277466, -1.0378042459487915, 0.5247195959091187, 0.995078980922699, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1665140837430954, -1.2674524784088135, 0.9061951637268066, 0.8211261034011841, -0.8161669373512268, -0.9149690866470337, -0.0005478427046909928, 0.0005478427046909928, 0.2611200213432312, -1.2518119812011719, 0.8443961143493652, -1.0378042459487915, 0.5167086124420166, 0.9954604506492615, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.164988175034523, -1.2853819131851196, 0.916113555431366, 0.8211261034011841, -0.7986190319061279, -0.9119172692298889, -0.0005478427046909928, 0.0005478427046909928, 0.2599755823612213, -1.278515338897705, 0.8623254895210266, -1.037422776222229, 0.5079346895217896, 0.9988937377929688, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16269932687282562, -1.3021668195724487, 0.926413357257843, 0.8211261034011841, -0.7825970649719238, -0.9103913903236389, -0.0005478427046909928, 0.0005478427046909928, 0.2580682039260864, -1.3010224103927612, 0.8768215179443359, -1.0378042459487915, 0.4991607666015625, 1.0030899047851562, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16002899408340454, -1.3189517259597778, 0.9370946884155273, 0.8207446336746216, -0.7730602025985718, -0.9077210426330566, -0.0005478427046909928, 0.0005478427046909928, 0.25654229521751404, -1.3193331956863403, 0.8882657885551453, -1.037422776222229, 0.4892423748970032, 1.0065232515335083, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15621423721313477, -1.3353551626205444, 0.9485389590263367, 0.8215075731277466, -0.767719566822052, -0.9042877554893494, -0.0005442132242023945, 0.0005442132242023945, 0.25349050760269165, -1.335736632347107, 0.9008545279502869, -1.037422776222229, 0.4797055125236511, 1.0099564790725708, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15392538905143738, -1.3498512506484985, 0.9603646993637085, 0.8218890428543091, -0.7646677494049072, -0.9031433463096619, -0.0005442132242023945, 0.0005442132242023945, 0.25349050760269165, -1.350995659828186, 0.9107728600502014, -1.0378042459487915, 0.47474631667137146, 1.0111008882522583, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1508735716342926, -1.3624398708343506, 0.9737163186073303, 0.8211261034011841, -0.761997401714325, -0.9008545279502869, -0.0005442132242023945, 0.0005442132242023945, 0.25272753834724426, -1.362821340560913, 0.9187838435173035, -1.0378042459487915, 0.4697871506214142, 1.0149157047271729, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1497291475534439, -1.3761730194091797, 0.9866865277290344, 0.8211261034011841, -0.7616159319877625, -0.8970397710800171, -0.0005442132242023945, 0.0005442132242023945, 0.25310903787612915, -1.3719768524169922, 0.9233615398406982, -1.0378042459487915, 0.46368351578712463, 1.0179674625396729, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1493476778268814, -1.3918135166168213, 0.9981307983398438, 0.8207446336746216, -0.7612344622612, -0.8951323628425598, -0.0005478427046909928, 0.0005478427046909928, 0.25310903787612915, -1.3799878358840942, 0.9267948269844055, -1.0378042459487915, 0.4556725323200226, 1.0217822790145874, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1493476778268814, -1.406691074371338, 1.0057603120803833, 0.8215075731277466, -0.7597085237503052, -0.8932250142097473, -0.0005478427046909928, 0.0005478427046909928, 0.25310903787612915, -1.3876173496246338, 0.9294651746749878, -1.0378042459487915, 0.4503318965435028, 1.02521550655365, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1497291475534439, -1.418135404586792, 1.0095750093460083, 0.8207446336746216, -0.7585641145706177, -0.8932250142097473, -0.0005442132242023945, 0.0005442132242023945, 0.25310903787612915, -1.3963912725448608, 0.9309910535812378, -1.037422776222229, 0.44232088327407837, 1.0313191413879395, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1501106321811676, -1.428435206413269, 1.0114823579788208, 0.8218890428543091, -0.7574197053909302, -0.8936064839363098, -0.0005478427046909928, 0.0005478427046909928, 0.25310903787612915, -1.4055466651916504, 0.9325169920921326, -1.0378042459487915, 0.4354543387889862, 1.036659836769104, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1501106321811676, -1.434920310974121, 1.0137712955474854, 0.8215075731277466, -0.7497901916503906, -0.8943694233894348, -0.0005478427046909928, 0.0005478427046909928, 0.25310903787612915, -1.41317617893219, 0.9359502792358398, -1.038185715675354, 0.42668038606643677, 1.0408560037612915, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1501106321811676, -1.439497947692871, 1.0168230533599854, 0.8215075731277466, -0.7452124953269958, -0.8966583013534546, -0.0005478427046909928, 0.0005478427046909928, 0.25310903787612915, -1.4192798137664795, 0.9428167939186096, -1.037422776222229, 0.4201953113079071, 1.043907880783081, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1501106321811676, -1.4444571733474731, 1.0206378698349, 0.8211261034011841, -0.7410162687301636, -0.8970397710800171, -0.0005478427046909928, 0.0005478427046909928, 0.25310903787612915, -1.426146388053894, 0.9500648379325867, -1.0378042459487915, 0.41676202416419983, 1.0442893505096436, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1501106321811676, -1.4490348100662231, 1.0236896276474, 0.8207446336746216, -0.7387273907661438, -0.8970397710800171, -0.0005478427046909928, 0.0005478427046909928, 0.25310903787612915, -1.433012843132019, 0.9569314122200012, -1.0378042459487915, 0.41332876682281494, 1.049248456954956, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1501106321811676, -1.4551384449005127, 1.025978446006775, 0.8211261034011841, -0.735675573348999, -0.8970397710800171, -0.0005478427046909928, 0.0005478427046909928, 0.25425344705581665, -1.4414052963256836, 0.960746169090271, -1.037422776222229, 0.4056992530822754, 1.0591669082641602, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1501106321811676, -1.4662013053894043, 1.0271228551864624, 0.8215075731277466, -0.7352941036224365, -0.8970397710800171, -0.0005478427046909928, 0.0005478427046909928, 0.2580682039260864, -1.4524681568145752, 0.9618905782699585, -1.0378042459487915, 0.39730677008628845, 1.0633630752563477, -0.00058060756418854, 0.00058060756418854], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.152399480342865, -1.4791713953018188, 1.0271228551864624, 0.8226520419120789, -0.7272831201553345, -0.8970397710800171, -0.00277142645791173, 0.00277142645791173, 0.2611200213432312, -1.4620050191879272, 0.9561684727668762, -1.037422776222229, 0.3721294105052948, 1.0671778917312622, -0.0013436763547360897, 0.0013436763547360897], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15468832850456238, -1.4868009090423584, 1.0282673835754395, 0.8222705721855164, -0.700579822063446, -0.8970397710800171, -0.013798903673887253, 0.013798903673887253, 0.2641718089580536, -1.4665827751159668, 0.9466315507888794, -1.038185715675354, 0.3240634799003601, 1.0702296495437622, -0.01199792418628931, 0.01199792418628931], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14820325374603271, -1.4852750301361084, 1.0320820808410645, 0.8199816942214966, -0.6784542798995972, -0.8997100591659546, -0.023576540872454643, 0.023576540872454643, 0.2592126429080963, -1.4581903219223022, 0.9386205673217773, -1.037422776222229, 0.2779049277305603, 1.0774776935577393, -0.02121690846979618, 0.02121690846979618], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1348516047000885, -1.4547569751739502, 1.0172045230865479, 0.8203631639480591, -0.6654840707778931, -0.9042877554893494, -0.01783149503171444, 0.01783149503171444, 0.2473868876695633, -1.4150835275650024, 0.9157320261001587, -1.0370413064956665, 0.22220951318740845, 1.0862516164779663, -0.014483059756457806, 0.014483059756457806], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12417028844356537, -1.409742832183838, 0.9840161800384521, 0.8215075731277466, -0.6605249047279358, -0.9000915288925171, -0.0024212936405092478, 0.0024212936405092478, 0.2458609938621521, -1.349469780921936, 0.8752956390380859, -1.0370413064956665, 0.17910276353359222, 1.0759518146514893, -0.003737358609214425, 0.003737358609214425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1188296303153038, -1.3754100799560547, 0.951972246170044, 0.8215075731277466, -0.657473087310791, -0.8955138325691223, -8.418768993578851e-05, 8.418768993578851e-05, 0.24166475236415863, -1.2899595499038696, 0.8344777822494507, -1.036659836769104, 0.1504921019077301, 1.056496500968933, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11692225188016891, -1.347943902015686, 0.919165313243866, 0.8218890428543091, -0.655947208404541, -0.8958953022956848, -8.418768993578851e-05, 8.418768993578851e-05, 0.23975738883018494, -1.2479972839355469, 0.8047226667404175, -1.036659836769104, 0.15545128285884857, 1.033226490020752, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11692225188016891, -1.3319218158721924, 0.9008545279502869, 0.8207446336746216, -0.6780728101730347, -0.8951323628425598, -8.418768993578851e-05, 8.418768993578851e-05, 0.22755016386508942, -1.2331197261810303, 0.80357825756073, -1.038948655128479, 0.22755016386508942, 1.0126268863677979, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11387044936418533, -1.332684874534607, 0.8989471197128296, 0.8218890428543091, -0.7566567659378052, -0.8871213793754578, -8.084485307335854e-05, 8.084485307335854e-05, 0.1970321238040924, -1.2422751188278198, 0.8321889042854309, -1.025978446006775, 0.38357365131378174, 0.9805828928947449, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -1.3361181020736694, 0.8989471197128296, 0.8226520419120789, -0.8287556171417236, -0.8798733353614807, -8.418768993578851e-05, 8.418768993578851e-05, 0.15392538905143738, -1.2502861022949219, 0.8508812189102173, -0.9546425342559814, 0.5289158225059509, 0.9199283123016357, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10509651154279709, -1.3418402671813965, 0.8981841802597046, 0.8104447722434998, -0.8859769701957703, -0.8665217161178589, -8.084485307335854e-05, 8.084485307335854e-05, 0.11463340371847153, -1.2571526765823364, 0.8642328381538391, -0.8916990756988525, 0.6380178332328796, 0.8806362748146057, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07648584991693497, -1.3544288873672485, 0.8939879536628723, 0.7463569045066833, -0.9458686113357544, -0.8287556171417236, -8.418768993578851e-05, 8.418768993578851e-05, 0.0883115902543068, -1.2674524784088135, 0.8772030472755432, -0.8516441583633423, 0.7227054238319397, 0.8710994124412537, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05245288833975792, -1.3616769313812256, 0.89131760597229, 0.700579822063446, -0.9813458323478699, -0.8070115447044373, -8.75326368259266e-05, 8.75326368259266e-05, 0.0711451917886734, -1.2773709297180176, 0.8852140307426453, -0.8325703740119934, 0.770771324634552, 0.8718623518943787, -0.0005733110010623932, 0.0005733110010623932], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04596780240535736, -1.3658732175827026, 0.88979172706604, 0.7059205174446106, -0.9931715726852417, -0.8237964510917664, -0.0055779218673706055, 0.0055779218673706055, 0.059319447726011276, -1.2983520030975342, 0.8955138325691223, -0.8188372850418091, 0.8169298768043518, 0.8806362748146057, -0.006556498818099499, 0.006556498818099499], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04291599988937378, -1.3677805662155151, 0.8875028491020203, 0.7314793467521667, -0.9924086332321167, -0.84744793176651, -0.007493291050195694, 0.007493291050195694, 0.04940108209848404, -1.3284885883331299, 0.9077210426330566, -0.813878059387207, 0.839436948299408, 0.8989471197128296, -0.010760224424302578, 0.010760224424302578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04177157208323479, -1.3693064451217651, 0.8863584399223328, 0.7417792081832886, -0.9931715726852417, -0.8611810207366943, -0.01418067142367363, 0.01418067142367363, 0.04711223021149635, -1.3635843992233276, 0.9229800701141357, -0.8073930144309998, 0.8672846555709839, 0.9138246774673462, -0.014308701269328594, 0.014308701269328594], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0394827201962471, -1.3723583221435547, 0.8863584399223328, 0.7520790696144104, -0.9916456937789917, -0.8691920638084412, -0.01692209206521511, 0.01692209206521511, 0.04139009863138199, -1.3975356817245483, 0.9420538544654846, -0.8077744841575623, 0.8798733353614807, 0.9279392957687378, -0.01554308645427227, 0.01554308645427227], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0398641936480999, -1.3765544891357422, 0.8863584399223328, 0.7555122971534729, -0.9863049983978271, -0.8756771087646484, -0.01719183474779129, 0.01719183474779129, 0.04329747334122658, -1.425764799118042, 0.9649423956871033, -0.8176928162574768, 0.8989471197128296, 0.9481574892997742, -0.01694132760167122, 0.01694132760167122], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04100862145423889, -1.3841840028762817, 0.8886472582817078, 0.7581826448440552, -0.9740977883338928, -0.8794918656349182, -0.01719183474779129, 0.01719183474779129, 0.040627144277095795, -1.4459830522537231, 0.9843976497650146, -0.8440146446228027, 0.9016174674034119, 0.9721904397010803, -0.017269089818000793, 0.017269089818000793], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04253452271223068, -1.3937208652496338, 0.890554666519165, 0.7593270540237427, -0.9691386222839355, -0.8794918656349182, -0.01719183474779129, 0.01719183474779129, 0.039101243019104004, -1.4612420797348022, 1.0008010864257812, -0.8596551418304443, 0.9138246774673462, 0.9817273020744324, -0.017269089818000793, 0.017269089818000793], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04482337832450867, -1.4013503789901733, 0.8932250142097473, 0.7597085237503052, -0.9645609259605408, -0.8794918656349182, -0.01719183474779129, 0.01719183474779129, 0.04100862145423889, -1.4730678796768188, 1.0145342350006104, -0.8653773069381714, 0.9203097820281982, 0.9855420589447021, -0.017269089818000793, 0.017269089818000793], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.048638131469488144, -1.4055466651916504, 0.8962767720222473, 0.7600900530815125, -0.9531166553497314, -0.8802548050880432, -0.01719183474779129, 0.01719183474779129, 0.04482337832450867, -1.482604742050171, 1.02521550655365, -0.8718623518943787, 0.9206912517547607, 0.9889753460884094, -0.017259428277611732, 0.017259428277611732], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05359731614589691, -1.4093613624572754, 0.8993285894393921, 0.7608529925346375, -0.953498125076294, -0.881780743598938, -0.01719183474779129, 0.01719183474779129, 0.050164032727479935, -1.4894713163375854, 1.032463550567627, -0.8745326995849609, 0.924124538898468, 0.9920271635055542, -0.01719183474779129, 0.01719183474779129], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06084534898400307, -1.4135576486587524, 0.9039062857627869, 0.7612344622612, -0.9500648379325867, -0.882543683052063, -0.01719183474779129, 0.01719183474779129, 0.054741740226745605, -1.4932860136032104, 1.0370413064956665, -0.8752956390380859, 0.9229800701141357, 0.9920271635055542, -0.01703757233917713, 0.01703757233917713], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06694895774126053, -1.418135404586792, 0.9100099205970764, 0.7608529925346375, -0.9493018984794617, -0.882543683052063, -0.01719183474779129, 0.01719183474779129, 0.05893797054886818, -1.495956301689148, 1.0393301248550415, -0.8760585784912109, 0.9225986003875732, 0.9920271635055542, -0.016893252730369568, 0.016893252730369568], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0715266615152359, -1.422713041305542, 0.9145876169204712, 0.760471522808075, -0.9458686113357544, -0.8829251527786255, -0.01719183474779129, 0.01719183474779129, 0.06084534898400307, -1.497100830078125, 1.0408560037612915, -0.8764400482177734, 0.9172579646110535, 0.9920271635055542, -0.016395339742302895, 0.016395339742302895], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07495994865894318, -1.4253833293914795, 0.916113555431366, 0.7623788714408875, -0.9454871416091919, -0.8829251527786255, -0.01719183474779129, 0.01719183474779129, 0.06198977679014206, -1.49786376953125, 1.0416189432144165, -0.8783474564552307, 0.916113555431366, 0.9920271635055542, -0.016395339742302895, 0.016395339742302895], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07572289556264877, -1.4272907972335815, 0.916113555431366, 0.761997401714325, -0.9428167939186096, -0.883306622505188, -0.01719183474779129, 0.01719183474779129, 0.06389715522527695, -1.4982452392578125, 1.0416189432144165, -0.8783474564552307, 0.916113555431366, 0.9920271635055542, -0.016385801136493683, 0.016385801136493683], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07686731964349747, -1.4280537366867065, 0.9153505563735962, 0.7616159319877625, -0.9428167939186096, -0.8863584399223328, -0.01719183474779129, 0.01719183474779129, 0.06580453366041183, -1.498626708984375, 1.0416189432144165, -0.8779659867286682, 0.9157320261001587, 0.9916456937789917, -0.015590095892548561, 0.015590095892548561], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07686731964349747, -1.4280537366867065, 0.9138246774673462, 0.7608529925346375, -0.9428167939186096, -0.8863584399223328, -0.01719183474779129, 0.01719183474779129, 0.06847485899925232, -1.498626708984375, 1.0416189432144165, -0.8779659867286682, 0.9145876169204712, 0.9882124066352844, -0.015084635466337204, 0.015084635466337204], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07724879682064056, -1.4288166761398315, 0.9130617380142212, 0.7612344622612, -0.9424353241920471, -0.8863584399223328, -0.01719183474779129, 0.01719183474779129, 0.07000076025724411, -1.4990081787109375, 1.0416189432144165, -0.8775845170021057, 0.9111543297767639, 0.9878309369087219, -0.014991587027907372, 0.014991587027907372], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08068207651376724, -1.429961085319519, 0.9126802682876587, 0.7608529925346375, -0.9424353241920471, -0.8859769701957703, -0.01719183474779129, 0.01719183474779129, 0.0707637146115303, -1.500152587890625, 1.0416189432144165, -0.8775845170021057, 0.9092469811439514, 0.9878309369087219, -0.013880413956940174, 0.013880413956940174], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08144503086805344, -1.431486964225769, 0.9126802682876587, 0.7612344622612, -0.9424353241920471, -0.8859769701957703, -0.01719183474779129, 0.01719183474779129, 0.071908138692379, -1.5012969970703125, 1.0416189432144165, -0.8772030472755432, 0.9084840416908264, 0.9859235286712646, -0.013880413956940174, 0.013880413956940174], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08258945494890213, -1.4326313734054565, 0.9119172692298889, 0.7612344622612, -0.9420538544654846, -0.8859769701957703, -0.01719183474779129, 0.01719183474779129, 0.0722896158695221, -1.50244140625, 1.0408560037612915, -0.8772030472755432, 0.9084840416908264, 0.9847791194915771, -0.013798903673887253, 0.013798903673887253], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08335240930318832, -1.4333943128585815, 0.9115357995033264, 0.7616159319877625, -0.9420538544654846, -0.8855955004692078, -0.01719183474779129, 0.01719183474779129, 0.07267109304666519, -1.50244140625, 1.0400930643081665, -0.8772030472755432, 0.9084840416908264, 0.9843976497650146, -0.013447612524032593, 0.013447612524032593], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08335240930318832, -1.4333943128585815, 0.9107728600502014, 0.761997401714325, -0.9420538544654846, -0.8852140307426453, -0.01719183474779129, 0.01719183474779129, 0.07305257022380829, -1.50244140625, 1.0393301248550415, -0.8779659867286682, 0.9084840416908264, 0.9836347103118896, -0.012754722498357296, 0.012754722498357296], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08449683338403702, -1.4333943128585815, 0.9096284508705139, 0.7616159319877625, -0.9420538544654846, -0.8852140307426453, -0.01719183474779129, 0.01719183474779129, 0.07343403995037079, -1.50244140625, 1.0385671854019165, -0.8783474564552307, 0.9088655114173889, 0.9809643626213074, -0.011418790556490421, 0.011418790556490421], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08449683338403702, -1.4333943128585815, 0.9084840416908264, 0.7616159319877625, -0.9420538544654846, -0.8852140307426453, -0.01719183474779129, 0.01719183474779129, 0.07343403995037079, -1.50244140625, 1.0385671854019165, -0.8779659867286682, 0.9088655114173889, 0.9802014231681824, -0.008874029852449894, 0.008874029852449894], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08449683338403702, -1.434157371520996, 0.9077210426330566, 0.7616159319877625, -0.9420538544654846, -0.8855955004692078, -0.01719183474779129, 0.01719183474779129, 0.07343403995037079, -1.50244140625, 1.0385671854019165, -0.8779659867286682, 0.9084840416908264, 0.9786755442619324, -0.006704479455947876, 0.006704479455947876], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08449683338403702, -1.4360647201538086, 0.9077210426330566, 0.7608529925346375, -0.9416723847389221, -0.8855955004692078, -0.017182184383273125, 0.017182184383273125, 0.07419699430465698, -1.50244140625, 1.0385671854019165, -0.8779659867286682, 0.9073395729064941, 0.9767681360244751, -0.005311072804033756, 0.005311072804033756], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08525978773832321, -1.439497947692871, 0.9077210426330566, 0.7612344622612, -0.9420538544654846, -0.8859769701957703, -0.017182184383273125, 0.017182184383273125, 0.07419699430465698, -1.50244140625, 1.0385671854019165, -0.8775845170021057, 0.9004730582237244, 0.9767681360244751, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08525978773832321, -1.4448386430740356, 0.9073395729064941, 0.7616159319877625, -0.9420538544654846, -0.8859769701957703, -0.01717253401875496, 0.01717253401875496, 0.07534141838550568, -1.50244140625, 1.0385671854019165, -0.8779659867286682, 0.8997100591659546, 0.9767681360244751, -0.002683818805962801, 0.002683818805962801], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08525978773832321, -1.4490348100662231, 0.9077210426330566, 0.7616159319877625, -0.9420538544654846, -0.8863584399223328, -0.01686442643404007, 0.01686442643404007, 0.07610437273979187, -1.50244140625, 1.0385671854019165, -0.8775845170021057, 0.8962767720222473, 0.9756237268447876, -0.0020486433058977127, 0.0020486433058977127], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08564125746488571, -1.4520866870880127, 0.9084840416908264, 0.761997401714325, -0.9420538544654846, -0.8867399096488953, -0.014080345630645752, 0.014080345630645752, 0.07648584991693497, -1.50244140625, 1.0385671854019165, -0.8775845170021057, 0.8924620151519775, 0.9733348488807678, -0.0013971939915791154, 0.0013971939915791154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.086785688996315, -1.4551384449005127, 0.9134432077407837, 0.7612344622612, -0.9416723847389221, -0.890554666519165, -0.012161710299551487, 0.012161710299551487, 0.07724879682064056, -1.50244140625, 1.0385671854019165, -0.8775845170021057, 0.8886472582817078, 0.9733348488807678, -0.0010113338939845562, 0.0010113338939845562], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0871671661734581, -1.4589532613754272, 0.9206912517547607, 0.7612344622612, -0.9393835067749023, -0.8943694233894348, -0.012153069488704205, 0.012153069488704205, 0.07763027399778366, -1.50244140625, 1.0385671854019165, -0.8775845170021057, 0.8863584399223328, 0.9733348488807678, -0.0009646060643717647, 0.0009646060643717647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0875486359000206, -1.4631494283676147, 0.9287022352218628, 0.7616159319877625, -0.9393835067749023, -0.8981841802597046, -0.012092644348740578, 0.012092644348740578, 0.07801175117492676, -1.50244140625, 1.0385671854019165, -0.8775845170021057, 0.8855955004692078, 0.9733348488807678, -0.0009646060643717647, 0.0009646060643717647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08945601433515549, -1.4662013053894043, 0.9332799315452576, 0.7616159319877625, -0.9393835067749023, -0.9027618765830994, -0.008549544028937817, 0.008549544028937817, 0.07801175117492676, -1.50244140625, 1.0385671854019165, -0.8775845170021057, 0.8855955004692078, 0.9729533791542053, -0.0009646060643717647, 0.0009646060643717647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09098191559314728, -1.4673457145690918, 0.9355688095092773, 0.7616159319877625, -0.9397650361061096, -0.9031433463096619, -0.004261608701199293, 0.004261608701199293, 0.07801175117492676, -1.50244140625, 1.0385671854019165, -0.8775845170021057, 0.8859769701957703, 0.9729533791542053, -0.0009646060643717647, 0.0009646060643717647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09174486994743347, -1.4681086540222168, 0.9367132186889648, 0.7616159319877625, -0.9401465058326721, -0.9050507545471191, -0.000826396921183914, 0.000826396921183914, 0.07801175117492676, -1.50244140625, 1.0385671854019165, -0.8775845170021057, 0.8886472582817078, 0.9729533791542053, -0.0009646060643717647, 0.0009646060643717647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09517814964056015, -1.4684901237487793, 0.9370946884155273, 0.761997401714325, -0.9409094452857971, -0.9050507545471191, -0.000826396921183914, 0.000826396921183914, 0.07839322835206985, -1.50244140625, 1.044670820236206, -0.8779659867286682, 0.9081025123596191, 0.9733348488807678, -0.0009646060643717647, 0.0009646060643717647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09784847497940063, -1.4684901237487793, 0.9405279755592346, 0.7623788714408875, -0.9439612627029419, -0.9054322242736816, -0.000826396921183914, 0.000826396921183914, 0.07801175117492676, -1.50244140625, 1.0610742568969727, -0.8779659867286682, 0.9382390975952148, 0.9805828928947449, -0.0009646060643717647, 0.0009646060643717647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09899290651082993, -1.4673457145690918, 0.951972246170044, 0.76276034116745, -0.9493018984794617, -0.9111543297767639, -0.000826396921183914, 0.000826396921183914, 0.07839322835206985, -1.50244140625, 1.0858701467514038, -0.8775845170021057, 0.9733348488807678, 0.9935530424118042, -0.0009646060643717647, 0.0009646060643717647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09899290651082993, -1.4669642448425293, 0.9740977883338928, 0.761997401714325, -0.9637979865074158, -0.9153505563735962, -0.000826396921183914, 0.000826396921183914, 0.07839322835206985, -1.5054932832717896, 1.1118104457855225, -0.8783474564552307, 1.0084306001663208, 1.0103379487991333, -0.0009568501845933497, 0.0009568501845933497], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09899290651082993, -1.4673457145690918, 1.0061417818069458, 0.7612344622612, -0.9744792580604553, -0.9302281141281128, -0.000826396921183914, 0.000826396921183914, 0.07839322835206985, -1.5085450410842896, 1.1354619264602661, -0.8783474564552307, 1.0297932624816895, 1.0263599157333374, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09746700525283813, -1.4715418815612793, 1.0400930643081665, 0.7612344622612, -0.9870679974555969, -0.9431982636451721, -0.000826396921183914, 0.000826396921183914, 0.07839322835206985, -1.513122797012329, 1.1621652841567993, -0.8783474564552307, 1.0408560037612915, 1.0488669872283936, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09632257372140884, -1.4787899255752563, 1.0786221027374268, 0.7612344622612, -0.9954604506492615, -0.959220290184021, -0.000826396921183914, 0.000826396921183914, 0.07839322835206985, -1.5180819034576416, 1.189631462097168, -0.8783474564552307, 1.043144941329956, 1.0736628770828247, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09403372555971146, -1.4932860136032104, 1.1240177154541016, 0.761997401714325, -1.0034713745117188, -0.9798199534416199, -0.000826396921183914, 0.000826396921183914, 0.07839322835206985, -1.5249484777450562, 1.2167162895202637, -0.8779659867286682, 1.0378042459487915, 1.103417992591858, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08983749151229858, -1.5135042667388916, 1.1747539043426514, 0.7623788714408875, -1.0133898258209229, -1.0034713745117188, -0.000826396921183914, 0.000826396921183914, 0.07839322835206985, -1.5344853401184082, 1.2392233610153198, -0.8775845170021057, 1.0191118717193604, 1.1327916383743286, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08602273464202881, -1.5375372171401978, 1.2273975610733032, 0.7616159319877625, -1.0187304019927979, -1.028648853302002, -0.000826396921183914, 0.000826396921183914, 0.07839322835206985, -1.5478370189666748, 1.261348843574524, -0.8772030472755432, 0.994316041469574, 1.1690318584442139, -0.0009413659572601318, 0.0009413659572601318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08106355369091034, -1.563096046447754, 1.2773709297180176, 0.7616159319877625, -1.02216374874115, -1.0568779706954956, -0.000826396921183914, 0.000826396921183914, 0.07839322835206985, -1.565384864807129, 1.28233003616333, -0.8775845170021057, 0.9683756828308105, 1.2022202014923096, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07801175117492676, -1.587891936302185, 1.3193331956863403, 0.7623788714408875, -1.02216374874115, -1.0862516164779663, -0.000826396921183914, 0.000826396921183914, 0.07991912961006165, -1.5844587087631226, 1.3010224103927612, -0.8779659867286682, 0.9462500810623169, 1.2338826656341553, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07534141838550568, -1.6119248867034912, 1.3536659479141235, 0.7608529925346375, -1.022926688194275, -1.110666036605835, -0.000826396921183914, 0.000826396921183914, 0.08449683338403702, -1.6073472499847412, 1.3181887865066528, -0.8768215179443359, 0.924124538898468, 1.2602044343948364, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07000076025724411, -1.636720895767212, 1.3784618377685547, 0.7608529925346375, -1.0255969762802124, -1.1354619264602661, -0.000826396921183914, 0.000826396921183914, 0.09136339277029037, -1.6321431398391724, 1.338025450706482, -0.8775845170021057, 0.9000915288925171, 1.2853819131851196, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06237125024199486, -1.6618982553482056, 1.3948653936386108, 0.7623788714408875, -1.0255969762802124, -1.1598763465881348, -0.000826396921183914, 0.000826396921183914, 0.10166323184967041, -1.660753846168518, 1.3609139919281006, -0.8772030472755432, 0.8798733353614807, 1.3075073957443237, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05283436179161072, -1.6832607984542847, 1.403639316558838, 0.761997401714325, -1.024452567100525, -1.183146357536316, -0.000826396921183914, 0.000826396921183914, 0.11081864684820175, -1.6874570846557617, 1.3818951845169067, -0.8764400482177734, 0.8600366115570068, 1.3311588764190674, -0.0009413659572601318, 0.0009413659572601318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04177157208323479, -1.7004272937774658, 1.4093613624572754, 0.7616159319877625, -1.0233081579208374, -1.204127550125122, -0.000826396921183914, 0.000826396921183914, 0.11959258466959, -1.7053864002227783, 1.3944838047027588, -0.8775845170021057, 0.8363851308822632, 1.355954885482788, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03147173300385475, -1.7153048515319824, 1.41775381565094, 0.761997401714325, -1.0217822790145874, -1.2289234399795532, -0.000826396921183914, 0.000826396921183914, 0.12645913660526276, -1.7160677909851074, 1.402876377105713, -0.8768215179443359, 0.8119707107543945, 1.3826581239700317, -0.0009413659572601318, 0.0009413659572601318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.026131074875593185, -1.7294193506240845, 1.432249903678894, 0.7616159319877625, -1.021400809288025, -1.2571526765823364, -0.000826396921183914, 0.000826396921183914, 0.13179980218410492, -1.7221713066101074, 1.407454013824463, -0.8772030472755432, 0.7909895181655884, 1.406691074371338, -0.0009413659572601318, 0.0009413659572601318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.023079270496964455, -1.745822787284851, 1.4509422779083252, 0.760471522808075, -1.0202564001083374, -1.2907224893569946, -0.000826396921183914, 0.000826396921183914, 0.1367589831352234, -1.7256046533584595, 1.407454013824463, -0.8772030472755432, 0.7650492191314697, 1.434157371520996, -0.0009413659572601318, 0.0009413659572601318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.021171892061829567, -1.7645151615142822, 1.4711604118347168, 0.7608529925346375, -1.0183489322662354, -1.3376439809799194, -0.000826396921183914, 0.000826396921183914, 0.13981078565120697, -1.727512001991272, 1.4055466651916504, -0.8768215179443359, 0.7375829815864563, 1.4627679586410522, -0.0009413659572601318, 0.0009413659572601318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02079041674733162, -1.7801556587219238, 1.4875638484954834, 0.7608529925346375, -1.0187304019927979, -1.3838025331497192, -0.000826396921183914, 0.000826396921183914, 0.14286258816719055, -1.7286564111709595, 1.4024949073791504, -0.8775845170021057, 0.7097352743148804, 1.495193362236023, -0.0009413659572601318, 0.0009413659572601318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02040894143283367, -1.7957961559295654, 1.4990081787109375, 0.7608529925346375, -1.0183489322662354, -1.438735008239746, -0.000826396921183914, 0.000826396921183914, 0.14705882966518402, -1.7294193506240845, 1.3998245000839233, -0.8764400482177734, 0.6803616285324097, 1.5329594612121582, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -1.8102922439575195, 1.5012969970703125, 0.7608529925346375, -1.0183489322662354, -1.50091552734375, -0.000826396921183914, 0.000826396921183914, 0.1516365259885788, -1.7301822900772095, 1.3921949863433838, -0.8768215179443359, 0.6506065726280212, 1.5722514390945435, -0.0009413659572601318, 0.0009413659572601318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.016975661739706993, -1.8213549852371216, 1.5020599365234375, 0.761997401714325, -1.0183489322662354, -1.5547035932540894, -0.000826396921183914, 0.000826396921183914, 0.15621423721313477, -1.730945348739624, 1.3807507753372192, -0.8764400482177734, 0.6177996397018433, 1.6138323545455933, -0.0009413659572601318, 0.0009413659572601318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.016212711110711098, -1.8286030292510986, 1.5035858154296875, 0.7616159319877625, -1.0175859928131104, -1.596665859222412, -0.000826396921183914, 0.000826396921183914, 0.15926603972911835, -1.730945348739624, 1.3696879148483276, -0.8768215179443359, 0.5838482975959778, 1.6519798040390015, -0.0009413659572601318, 0.0009413659572601318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01430533267557621, -1.8327993154525757, 1.505874752998352, 0.7608529925346375, -1.0126268863677979, -1.6287097930908203, -0.000826396921183914, 0.000826396921183914, 0.16155488789081573, -1.7328526973724365, 1.3609139919281006, -0.8772030472755432, 0.5537117719650269, 1.6889829635620117, -0.0009413659572601318, 0.0009413659572601318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -1.8350881338119507, 1.507400631904602, 0.7608529925346375, -1.0053788423538208, -1.659609317779541, -0.000826396921183914, 0.000826396921183914, 0.16384375095367432, -1.734760046005249, 1.3570992946624756, -0.8760585784912109, 0.5296788215637207, 1.7206454277038574, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.011635004542768002, -1.8362325429916382, 1.510452389717102, 0.760471522808075, -0.9969863295555115, -1.6847867965698242, -0.0008416079799644649, 0.0008416079799644649, 0.16384375095367432, -1.7366673946380615, 1.3544288873672485, -0.8768215179443359, 0.5098420977592468, 1.7462043762207031, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -1.8377584218978882, 1.513885736465454, 0.7616159319877625, -0.9912642240524292, -1.6992828845977783, -0.002430704655125737, 0.002430704655125737, 0.1657511293888092, -1.7381932735443115, 1.353284478187561, -0.8768215179443359, 0.4892423748970032, 1.7595559358596802, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -1.8385213613510132, 1.515411615371704, 0.7612344622612, -0.9790570139884949, -1.7069122791290283, -0.0055967336520552635, 0.0055967336520552635, 0.16994735598564148, -1.7393378019332886, 1.3529030084609985, -0.8768215179443359, 0.4732204079627991, 1.7629892826080322, -0.002309155883267522, 0.002309155883267522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.010109102353453636, -1.8389028310775757, 1.516174554824829, 0.761997401714325, -0.967231273651123, -1.7057678699493408, -0.013807951472699642, 0.013807951472699642, 0.17185473442077637, -1.740482211112976, 1.352521538734436, -0.8772030472755432, 0.4549095928668976, 1.7488746643066406, -0.010595995001494884, 0.010595995001494884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.002861066721379757, -1.8335622549057007, 1.5115967988967896, 0.7608529925346375, -0.9531166553497314, -1.6832607984542847, -0.022990074008703232, 0.022990074008703232, 0.17147326469421387, -1.740482211112976, 1.352521538734436, -0.8772030472755432, 0.43125811219215393, 1.72102689743042, -0.024960704147815704, 0.024960704147815704], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.015449759550392628, -1.811436653137207, 1.4925230741500854, 0.7608529925346375, -0.9378576278686523, -1.6317616701126099, -0.023019922897219658, 0.023019922897219658, 0.16117341816425323, -1.7320897579193115, 1.349469780921936, -0.8772030472755432, 0.41523614525794983, 1.6691462993621826, -0.02696479670703411, 0.02696479670703411], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.040627144277095795, -1.7671854496002197, 1.4475089311599731, 0.7608529925346375, -0.926413357257843, -1.5367742776870728, -0.008594514802098274, 0.008594514802098274, 0.14629587531089783, -1.7030975818634033, 1.3235293626785278, -0.8772030472755432, 0.4030289053916931, 1.5821698904037476, -0.008927335031330585, 0.008927335031330585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06618601083755493, -1.7114900350570679, 1.3769359588623047, 0.76276034116745, -0.9195467829704285, -1.428435206413269, -4.421240373631008e-05, 4.421240373631008e-05, 0.14019227027893066, -1.647783637046814, 1.2602044343948364, -0.8764400482177734, 0.3694590628147125, 1.4875638484954834, -5.417786815087311e-05, 5.417786815087311e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08602273464202881, -1.651598334312439, 1.2994964122772217, 0.7612344622612, -0.9077210426330566, -1.3223849534988403, -6.083200787543319e-05, 6.083200787543319e-05, 0.1340886503458023, -1.58407723903656, 1.184290885925293, -0.8768215179443359, 0.33245593309402466, 1.3887617588043213, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09136339277029037, -1.5970473289489746, 1.2251087427139282, 0.7612344622612, -0.9008545279502869, -1.2144273519515991, -6.083200787543319e-05, 6.083200787543319e-05, 0.12874799966812134, -1.5341038703918457, 1.1362248659133911, -0.8772030472755432, 0.33398184180259705, 1.27927827835083, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1024261862039566, -1.5684367418289185, 1.1621652841567993, 0.7017242908477783, -0.9313725233078003, -1.0702296495437622, -6.083200787543319e-05, 6.083200787543319e-05, 0.11425192654132843, -1.5215152502059937, 1.1396582126617432, -0.8588922023773193, 0.44308385252952576, 1.1541543006896973, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1188296303153038, -1.5676738023757935, 1.1263065338134766, 0.6116960644721985, -0.9878309369087219, -0.9409094452857971, -6.083200787543319e-05, 6.083200787543319e-05, 0.0722896158695221, -1.5455482006072998, 1.1743724346160889, -0.769245445728302, 0.6261920928955078, 1.0233081579208374, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11425192654132843, -1.5749218463897705, 1.106088399887085, 0.5815594792366028, -1.030937671661377, -0.8611810207366943, -6.749454769305885e-05, 6.749454769305885e-05, 0.05092698708176613, -1.5642404556274414, 1.19916832447052, -0.7223239541053772, 0.7570382356643677, 0.960746169090271, -0.004054493736475706, 0.004054493736475706], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10090028494596481, -1.58255136013031, 1.0973143577575684, 0.5716410875320435, -1.049248456954956, -0.8176928162574768, -0.007821992971003056, 0.007821992971003056, 0.037193864583969116, -1.587891936302185, 1.2167162895202637, -0.7383459210395813, 0.8237964510917664, 0.954261064529419, -0.014954417012631893, 0.014954417012631893], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0864042118191719, -1.5924696922302246, 1.0969328880310059, 0.568970799446106, -1.056496500968933, -0.7879377603530884, -0.018299773335456848, 0.018299773335456848, 0.03223468363285065, -1.6256580352783203, 1.2418936491012573, -0.7509346008300781, 0.8947508931159973, 0.9538795948028564, -0.022372698411345482, 0.022372698411345482], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06885633617639542, -1.6065843105316162, 1.1045624017715454, 0.572022557258606, -1.0633630752563477, -0.7696269154548645, -0.023039821535348892, 0.023039821535348892, 0.032616160809993744, -1.6657129526138306, 1.2644007205963135, -0.7608529925346375, 0.9489204287528992, 0.9496833682060242, -0.026550663635134697, 0.026550663635134697], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.048256658017635345, -1.6252765655517578, 1.118677020072937, 0.5884260535240173, -1.0664149522781372, -0.7574197053909302, -0.025157256051898003, 0.025157256051898003, 0.03299763426184654, -1.6989012956619263, 1.2819485664367676, -0.7681010365486145, 0.9840161800384521, 0.9489204287528992, -0.02799283154308796, 0.02799283154308796], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.029182879254221916, -1.6466392278671265, 1.1354619264602661, 0.6029220819473267, -1.0675593614578247, -0.7505531311035156, -0.02532404102385044, 0.02532404102385044, 0.03681239113211632, -1.720263957977295, 1.2964446544647217, -0.775730550289154, 1.0034713745117188, 0.9500648379325867, -0.029350079596042633, 0.029350079596042633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01583123579621315, -1.667620301246643, 1.1530098915100098, 0.6132219433784485, -1.0698481798171997, -0.7467383742332458, -0.02532404102385044, 0.02532404102385044, 0.03490501269698143, -1.732471227645874, 1.3063629865646362, -0.7867932915687561, 1.0076676607131958, 0.9504463076591492, -0.029967406764626503, 0.029967406764626503], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.006294346414506435, -1.6866941452026367, 1.1694133281707764, 0.6181811094284058, -1.0698481798171997, -0.7459754347801208, -0.02532404102385044, 0.02532404102385044, 0.039101243019104004, -1.739719271659851, 1.3109407424926758, -0.7917525172233582, 1.021400809288025, 0.9500648379325867, -0.029976408928632736, 0.029976408928632736], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.000572213320992887, -1.7000458240509033, 1.1781872510910034, 0.621614396572113, -1.0702296495437622, -0.7436865568161011, -0.02532404102385044, 0.02532404102385044, 0.04100862145423889, -1.744296908378601, 1.3139925003051758, -0.7944228053092957, 1.0236896276474, 0.9496833682060242, -0.030039355158805847, 0.030039355158805847], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.00476844422519207, -1.7072938680648804, 1.1812390089035034, 0.6250476837158203, -1.0706111192703247, -0.7436865568161011, -0.02532404102385044, 0.02532404102385044, 0.04711223021149635, -1.7477302551269531, 1.3155183792114258, -0.8001449704170227, 1.0236896276474, 0.9454871416091919, -0.030039355158805847, 0.030039355158805847], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -1.7118715047836304, 1.1827648878097534, 0.6258106231689453, -1.0706111192703247, -0.7425421476364136, -0.02532404102385044, 0.02532404102385044, 0.054741740226745605, -1.7515449523925781, 1.3174258470535278, -0.7974746227264404, 1.02521550655365, 0.9428167939186096, -0.030039355158805847, 0.030039355158805847], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02040894143283367, -1.71492338180542, 1.183146357536316, 0.6345845460891724, -1.0709925889968872, -0.7387273907661438, -0.02532404102385044, 0.02532404102385044, 0.058175019919872284, -1.7530708312988281, 1.3197146654129028, -0.7993820309638977, 1.0217822790145874, 0.9424353241920471, -0.030039355158805847, 0.030039355158805847], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03032730519771576, -1.718738079071045, 1.1835278272628784, 0.6525139212608337, -1.0721369981765747, -0.7391088604927063, -0.02532404102385044, 0.02532404102385044, 0.06694895774126053, -1.7557412385940552, 1.3193331956863403, -0.7993820309638977, 1.0248340368270874, 0.9416723847389221, -0.030039355158805847, 0.030039355158805847], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03452353551983833, -1.721789836883545, 1.184290885925293, 0.6616693139076233, -1.0732814073562622, -0.7398717999458313, -0.02532404102385044, 0.02532404102385044, 0.0715266615152359, -1.7580300569534302, 1.3193331956863403, -0.7993820309638977, 1.024452567100525, 0.9409094452857971, -0.030030369758605957, 0.030030369758605957], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.039101243019104004, -1.725223183631897, 1.185053825378418, 0.6628137826919556, -1.0736628770828247, -0.7413977384567261, -0.02531423792243004, 0.02531423792243004, 0.07686731964349747, -1.7587929964065552, 1.3204776048660278, -0.7993820309638977, 1.019874930381775, 0.9382390975952148, -0.030030369758605957, 0.030030369758605957], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04139009863138199, -1.7294193506240845, 1.1869611740112305, 0.6666285395622253, -1.0744259357452393, -0.7440680265426636, -0.025304432958364487, 0.025304432958364487, 0.08258945494890213, -1.7591744661331177, 1.3204776048660278, -0.7986190319061279, 1.0206378698349, 0.9351872801780701, -0.03002138063311577, 0.03002138063311577], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04406042397022247, -1.7351415157318115, 1.1877241134643555, 0.6673914790153503, -1.0759518146514893, -0.7444495558738708, -0.025284823030233383, 0.025284823030233383, 0.08525978773832321, -1.7591744661331177, 1.3204776048660278, -0.7997635006904602, 1.0202564001083374, 0.9340428709983826, -0.030003398656845093, 0.030003398656845093], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.050164032727479935, -1.7401007413864136, 1.1900129318237305, 0.6731135845184326, -1.0767147541046143, -0.7459754347801208, -0.024793365970253944, 0.024793365970253944, 0.09441519528627396, -1.7595559358596802, 1.3204776048660278, -0.7986190319061279, 1.0168230533599854, 0.9302281141281128, -0.029859209433197975, 0.029859209433197975], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05970092490315437, -1.7465858459472656, 1.1919203996658325, 0.6750209927558899, -1.0717555284500122, -0.7467383742332458, -0.02283083088696003, 0.02283083088696003, 0.1024261862039566, -1.7595559358596802, 1.3208590745925903, -0.7986190319061279, 1.0137712955474854, 0.9260318875312805, -0.028293738141655922, 0.028293738141655922], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06961929053068161, -1.7549782991409302, 1.195353627204895, 0.6776912808418274, -1.0698481798171997, -0.7475013136863708, -0.01518719457089901, 0.01518719457089901, 0.10929274559020996, -1.7599374055862427, 1.3208590745925903, -0.7993820309638977, 1.0057603120803833, 0.9195467829704285, -0.021455954760313034, 0.021455954760313034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07572289556264877, -1.7591744661331177, 1.1949721574783325, 0.6876096725463867, -1.0660333633422852, -0.7547493577003479, -0.002840146655216813, 0.002840146655216813, 0.11387044936418533, -1.7599374055862427, 1.3212405443191528, -0.7982375621795654, 0.9939345121383667, 0.9199283123016357, -0.006765413098037243, 0.006765413098037243], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07877469807863235, -1.7599374055862427, 1.196879506111145, 0.6887540817260742, -1.0667964220046997, -0.763523280620575, -0.0012176664313301444, 0.0012176664313301444, 0.11692225188016891, -1.7599374055862427, 1.3216220140457153, -0.7982375621795654, 0.9878309369087219, 0.9206912517547607, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08030059933662415, -1.7561227083206177, 1.1942092180252075, 0.6887540817260742, -1.0664149522781372, -0.7749675512313843, -0.0012176664313301444, 0.0012176664313301444, 0.1199740618467331, -1.7561227083206177, 1.3178073167800903, -0.7978560924530029, 0.9813458323478699, 0.9283207654953003, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08144503086805344, -1.7446783781051636, 1.1804760694503784, 0.690280020236969, -1.0709925889968872, -0.7890821695327759, -0.0012176664313301444, 0.0012176664313301444, 0.1203555315732956, -1.7423895597457886, 1.3010224103927612, -0.7982375621795654, 0.9782940149307251, 0.9290837049484253, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08220797777175903, -1.7256046533584595, 1.1518653631210327, 0.692568838596344, -1.0790035724639893, -0.7959487438201904, -0.0012176664313301444, 0.0012176664313301444, 0.12111848592758179, -1.717212200164795, 1.267833948135376, -0.7974746227264404, 0.9790570139884949, 0.9306095838546753, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08220797777175903, -1.7015717029571533, 1.1102845668792725, 0.6868467330932617, -1.0828183889389038, -0.8001449704170227, -0.0012176664313301444, 0.0012176664313301444, 0.12111848592758179, -1.6832607984542847, 1.2182421684265137, -0.7982375621795654, 0.9847791194915771, 0.927176296710968, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08411535620689392, -1.6714351177215576, 1.058022379875183, 0.6841763854026794, -1.0889219045639038, -0.8009079098701477, -0.0012176664313301444, 0.0012176664313301444, 0.12111848592758179, -1.6409170627593994, 1.1537728309631348, -0.7978560924530029, 0.9870679974555969, 0.9229800701141357, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08945601433515549, -1.6325246095657349, 0.996604859828949, 0.6815060377120972, -1.0893033742904663, -0.804341197013855, -0.0012176664313301444, 0.0012176664313301444, 0.12111848592758179, -1.591325283050537, 1.0805294513702393, -0.7978560924530029, 0.9863049983978271, 0.919165313243866, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09517814964056015, -1.5859845876693726, 0.9317540526390076, 0.6853207945823669, -1.0896848440170288, -0.8039597272872925, -0.0012176664313301444, 0.0012176664313301444, 0.12111848592758179, -1.5348668098449707, 1.0023269653320312, -0.7978560924530029, 0.9824903011322021, 0.9115357995033264, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09975585341453552, -1.5341038703918457, 0.8688105344772339, 0.6940947771072388, -1.0896848440170288, -0.8039597272872925, -0.0012176664313301444, 0.0012176664313301444, 0.12111848592758179, -1.4784084558486938, 0.927176296710968, -0.7978560924530029, 0.9737163186073303, 0.9061951637268066, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10433356463909149, -1.4822232723236084, 0.8104447722434998, 0.6956206560134888, -1.0896848440170288, -0.8039597272872925, -0.0012176664313301444, 0.0012176664313301444, 0.12188144028186798, -1.4253833293914795, 0.8566033244132996, -0.7978560924530029, 0.967231273651123, 0.9000915288925171, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10967422276735306, -1.4456015825271606, 0.7681010365486145, 0.689517080783844, -1.0896848440170288, -0.804341197013855, -0.0012176664313301444, 0.0012176664313301444, 0.12188144028186798, -1.3792248964309692, 0.7951858043670654, -0.7978560924530029, 0.9596017599105835, 0.8962767720222473, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12073700875043869, -1.4200427532196045, 0.735675573348999, 0.6868467330932617, -1.0900664329528809, -0.8054856061935425, -0.0012176664313301444, 0.0012176664313301444, 0.12188144028186798, -1.337262511253357, 0.7417792081832886, -0.7978560924530029, 0.9538795948028564, 0.8916990756988525, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.134470134973526, -1.405928134918213, 0.7177462577819824, 0.6857023239135742, -1.0908293724060059, -0.8077744841575623, -0.0016152930911630392, 0.0016152930911630392, 0.12188144028186798, -1.3052185773849487, 0.7047760486602783, -0.7978560924530029, 0.9405279755592346, 0.8882657885551453, -0.0011256298748776317, 0.0011256298748776317], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14248111844062805, -1.3963912725448608, 0.7089722752571106, 0.6857023239135742, -1.0923552513122559, -0.813115119934082, -0.011292551644146442, 0.011292551644146442, 0.12188144028186798, -1.281567096710205, 0.6849393248558044, -0.8005264401435852, 0.924887478351593, 0.8821622133255005, -0.012196298688650131, 0.012196298688650131], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1371404528617859, -1.3776988983154297, 0.7028687000274658, 0.6849393248558044, -1.0923552513122559, -0.8180742859840393, -0.017162885516881943, 0.017162885516881943, 0.11501488089561462, -1.2403677701950073, 0.6727321147918701, -0.7997635006904602, 0.8916990756988525, 0.8779659867286682, -0.018966997042298317, 0.018966997042298317], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11501488089561462, -1.3231478929519653, 0.6879911422729492, 0.6845578551292419, -1.0885404348373413, -0.8241779208183289, -0.010101464577019215, 0.010101464577019215, 0.08487831056118011, -1.1644541025161743, 0.6631952524185181, -0.7993820309638977, 0.8470664620399475, 0.8752956390380859, -0.012335026636719704, 0.012335026636719704], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09479667246341705, -1.2361714839935303, 0.6612878441810608, 0.6849393248558044, -1.0847257375717163, -0.8340963125228882, -0.0002678472374100238, 0.0002678472374100238, 0.06084534898400307, -1.0862516164779663, 0.6651026010513306, -0.8005264401435852, 0.8398184180259705, 0.8741512298583984, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08258945494890213, -1.1377508640289307, 0.6292439103126526, 0.6849393248558044, -1.0721369981765747, -0.841725766658783, -9.087968646781519e-05, 9.087968646781519e-05, 0.07610437273979187, -1.0175859928131104, 0.6795986890792847, -0.7986190319061279, 0.8520256280899048, 0.8703364729881287, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07305257022380829, -1.050011396408081, 0.5937666893005371, 0.6837949156761169, -1.0458152294158936, -0.8463035225868225, -9.087968646781519e-05, 9.087968646781519e-05, 0.14744029939174652, -0.9824903011322021, 0.7059205174446106, -0.8218890428543091, 0.8485923409461975, 0.8718623518943787, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05054550990462303, -0.9798199534416199, 0.5586709380149841, 0.6834134459495544, -1.0152971744537354, -0.8527885675430298, -9.087968646781519e-05, 9.087968646781519e-05, 0.2771419882774353, -0.9878309369087219, 0.7532234787940979, -0.9843976497650146, 0.811589241027832, 0.967994213104248, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01735713705420494, -0.9267948269844055, 0.5308232307434082, 0.6845578551292419, -0.996604859828949, -0.8524070978164673, -9.087968646781519e-05, 9.087968646781519e-05, 0.41027694940567017, -1.033989429473877, 0.8245593905448914, -1.1388952732086182, 0.7841230034828186, 1.0378042459487915, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.015449759550392628, -0.8836880922317505, 0.507553219795227, 0.6841763854026794, -0.9882124066352844, -0.84897381067276, -9.087968646781519e-05, 9.087968646781519e-05, 0.5296788215637207, -1.118677020072937, 0.916876494884491, -1.3151369094848633, 0.7963302135467529, 1.1053253412246704, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.039101243019104004, -0.8539330363273621, 0.49076828360557556, 0.6841763854026794, -0.9817273020744324, -0.8451590538024902, -9.087968646781519e-05, 9.087968646781519e-05, 0.6132219433784485, -1.2193865776062012, 1.0160601139068604, -1.4421683549880981, 0.848210871219635, 1.118677020072937, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05703059583902359, -0.8375295400619507, 0.4804684519767761, 0.6834134459495544, -0.9794384837150574, -0.8440146446228027, -9.087968646781519e-05, 9.087968646781519e-05, 0.6685358881950378, -1.3113222122192383, 1.112191915512085, -1.5142672061920166, 0.9210727214813232, 1.0637445449829102, -0.0013477789470925927, 0.0013477789470925927], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07381551712751389, -0.8287556171417236, 0.47436484694480896, 0.6837949156761169, -0.9794384837150574, -0.841725766658783, -9.087968646781519e-05, 9.087968646781519e-05, 0.7028687000274658, -1.3811322450637817, 1.1934462785720825, -1.5543221235275269, 0.9863049983978271, 1.0072861909866333, -0.008820860646665096, 0.008820860646665096], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0879301130771637, -0.8230335116386414, 0.4709315598011017, 0.6837949156761169, -0.9805828928947449, -0.8405813574790955, -9.087968646781519e-05, 9.087968646781519e-05, 0.7192721366882324, -1.434157371520996, 1.2510490417480469, -1.5810253620147705, 1.0297932624816895, 0.9626535177230835, -0.015825754031538963, 0.015825754031538963], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09937438368797302, -0.8192187547683716, 0.4690241813659668, 0.6841763854026794, -0.9847791194915771, -0.8371480703353882, -9.087968646781519e-05, 9.087968646781519e-05, 0.7307164072990417, -1.4761196374893188, 1.2911039590835571, -1.595139980316162, 1.0603113174438477, 0.9252689480781555, -0.016710884869098663, 0.016710884869098663], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10471503436565399, -0.8169298768043518, 0.4678797721862793, 0.6834134459495544, -0.9916456937789917, -0.8325703740119934, -9.087968646781519e-05, 9.087968646781519e-05, 0.7406347990036011, -1.513885736465454, 1.3178073167800903, -1.6214618682861328, 1.0839627981185913, 0.8962767720222473, -0.01735609397292137, 0.01735609397292137], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10814831405878067, -0.8157854676246643, 0.4678797721862793, 0.6837949156761169, -0.9908827543258667, -0.8272297382354736, -9.087968646781519e-05, 9.087968646781519e-05, 0.7475013136863708, -1.5482184886932373, 1.338025450706482, -1.644731879234314, 1.0992218255996704, 0.8714808821678162, -0.01735609397292137, 0.01735609397292137], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11196307092905045, -0.8150225281715393, 0.4678797721862793, 0.6834134459495544, -0.9908827543258667, -0.8230335116386414, -9.087968646781519e-05, 9.087968646781519e-05, 0.7520790696144104, -1.578355073928833, 1.354047417640686, -1.6577019691467285, 1.1072328090667725, 0.8508812189102173, -0.01735609397292137, 0.01735609397292137], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11615930497646332, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8215075731277466, -9.087968646781519e-05, 9.087968646781519e-05, 0.7536049485206604, -1.6016250848770142, 1.3670176267623901, -1.6657129526138306, 1.10685133934021, 0.8321889042854309, -0.01754009909927845, 0.01754009909927845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1188296303153038, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8184558153152466, -9.087968646781519e-05, 9.087968646781519e-05, 0.7536049485206604, -1.6203173398971558, 1.3807507753372192, -1.6699092388153076, 1.1015106439590454, 0.8218890428543091, -0.018026316538453102, 0.018026316538453102], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12111848592758179, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8169298768043518, -9.087968646781519e-05, 9.087968646781519e-05, 0.7536049485206604, -1.6378653049468994, 1.3937208652496338, -1.6725795269012451, 1.0984588861465454, 0.8100633025169373, -0.018026316538453102, 0.018026316538453102], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12340734153985977, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8150225281715393, -9.087968646781519e-05, 9.087968646781519e-05, 0.7532234787940979, -1.6561760902404785, 1.405165195465088, -1.6729609966278076, 1.0954070091247559, 0.8012893795967102, -0.018026316538453102, 0.018026316538453102], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12417028844356537, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8127336502075195, -9.087968646781519e-05, 9.087968646781519e-05, 0.7516975402832031, -1.6710536479949951, 1.413939118385315, -1.6741054058074951, 1.0950255393981934, 0.7948042750358582, -0.017967823892831802, 0.017967823892831802], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12455176562070847, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8112077713012695, -9.087968646781519e-05, 9.087968646781519e-05, 0.7497901916503906, -1.6836423873901367, 1.4185168743133545, -1.6760128736495972, 1.0908293724060059, 0.7879377603530884, -0.017714813351631165, 0.017714813351631165], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12569619715213776, -0.8146410584449768, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.810826301574707, -9.087968646781519e-05, 9.087968646781519e-05, 0.7459754347801208, -1.6943236589431763, 1.421187162399292, -1.6760128736495972, 1.0858701467514038, 0.7837415337562561, -0.015967631712555885, 0.015967631712555885], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8104447722434998, -9.087968646781519e-05, 9.087968646781519e-05, 0.7433050870895386, -1.7015717029571533, 1.421950101852417, -1.6760128736495972, 1.0812923908233643, 0.7806897163391113, -0.012816362082958221, 0.012816362082958221], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8073930144309998, -9.087968646781519e-05, 9.087968646781519e-05, 0.7413977384567261, -1.7042419910430908, 1.422713041305542, -1.6760128736495972, 1.0740443468093872, 0.777256429195404, -0.007642610929906368, 0.007642610929906368], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8070115447044373, -9.087968646781519e-05, 9.087968646781519e-05, 0.7410162687301636, -1.7065308094024658, 1.422713041305542, -1.6760128736495972, 1.0728999376296997, 0.7768749594688416, -0.0005696660955436528, 0.0005696660955436528], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.80510413646698, -9.087968646781519e-05, 9.087968646781519e-05, 0.7413977384567261, -1.7076753377914429, 1.422713041305542, -1.6760128736495972, 1.0717555284500122, 0.7742046117782593, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8039597272872925, -9.087968646781519e-05, 9.087968646781519e-05, 0.7410162687301636, -1.7076753377914429, 1.4238574504852295, -1.6760128736495972, 1.0667964220046997, 0.7742046117782593, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.80357825756073, -9.087968646781519e-05, 9.087968646781519e-05, 0.7387273907661438, -1.7057678699493408, 1.429198145866394, -1.6756312847137451, 1.0652704238891602, 0.7742046117782593, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8031967878341675, -9.087968646781519e-05, 9.087968646781519e-05, 0.728427529335022, -1.7019531726837158, 1.437972068786621, -1.6760128736495972, 1.048485517501831, 0.7829785346984863, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8024337887763977, -9.087968646781519e-05, 9.087968646781519e-05, 0.7154573798179626, -1.7004272937774658, 1.4440757036209106, -1.6756312847137451, 1.0206378698349, 0.7978560924530029, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8005264401435852, -9.087968646781519e-05, 9.087968646781519e-05, 0.7021057605743408, -1.6996643543243408, 1.4471274614334106, -1.6760128736495972, 0.9828717708587646, 0.8119707107543945, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9912642240524292, -0.8005264401435852, -9.087968646781519e-05, 9.087968646781519e-05, 0.6891355514526367, -1.7008087635040283, 1.4486533403396606, -1.6760128736495972, 0.9481574892997742, 0.8165484070777893, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8146410584449768, 0.4674982726573944, 0.6841763854026794, -0.9912642240524292, -0.8005264401435852, -9.087968646781519e-05, 9.087968646781519e-05, 0.6780728101730347, -1.7034790515899658, 1.4494163990020752, -1.6756312847137451, 0.9210727214813232, 0.8203631639480591, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6841763854026794, -0.9912642240524292, -0.8005264401435852, -9.087968646781519e-05, 9.087968646781519e-05, 0.6654840707778931, -1.7069122791290283, 1.4486533403396606, -1.6752498149871826, 0.8947508931159973, 0.8241779208183289, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6841763854026794, -0.9912642240524292, -0.8005264401435852, -9.087968646781519e-05, 9.087968646781519e-05, 0.656710147857666, -1.7092012166976929, 1.439497947692871, -1.6756312847137451, 0.8657587766647339, 0.8310444951057434, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12607766687870026, -0.8150225281715393, 0.4674982726573944, 0.6837949156761169, -0.9916456937789917, -0.8016708493232727, -9.087968646781519e-05, 9.087968646781519e-05, 0.6509880423545837, -1.7103456258773804, 1.4246203899383545, -1.6756312847137451, 0.837911069393158, 0.8360036611557007, -0.007324165664613247, 0.007324165664613247], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12569619715213776, -0.8150225281715393, 0.4674982726573944, 0.6841763854026794, -0.995841920375824, -0.8039597272872925, -9.087968646781519e-05, 9.087968646781519e-05, 0.6437399983406067, -1.7095826864242554, 1.408979892730713, -1.6729609966278076, 0.8062485456466675, 0.8600366115570068, -0.018358472734689713, 0.018358472734689713], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12417028844356537, -0.813878059387207, 0.4674982726573944, 0.6837949156761169, -0.9985122680664062, -0.8039597272872925, -9.087968646781519e-05, 9.087968646781519e-05, 0.6300068497657776, -1.6893644332885742, 1.3857098817825317, -1.6737239360809326, 0.7623788714408875, 0.9092469811439514, -0.0184857789427042, 0.0184857789427042], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12417028844356537, -0.8119707107543945, 0.4674982726573944, 0.6841763854026794, -1.0019454956054688, -0.804341197013855, -9.087968646781519e-05, 9.087968646781519e-05, 0.6170367002487183, -1.6264209747314453, 1.333447813987732, -1.6760128736495972, 0.7139315009117126, 0.9588387608528137, -0.011706966906785965, 0.011706966906785965], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12264438718557358, -0.80663001537323, 0.4674982726573944, 0.6841763854026794, -1.0065232515335083, -0.8039597272872925, -9.087968646781519e-05, 9.087968646781519e-05, 0.6097886562347412, -1.5203708410263062, 1.2468528747558594, -1.6752498149871826, 0.655184268951416, 1.0103379487991333, -0.0036621771287173033, 0.0036621771287173033], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10929274559020996, -0.8031967878341675, 0.47550925612449646, 0.6845578551292419, -1.0080491304397583, -0.7993820309638977, -9.087968646781519e-05, 9.087968646781519e-05, 0.6048294901847839, -1.3921949863433838, 1.1255435943603516, -1.6756312847137451, 0.5987258553504944, 1.0694667100906372, -2.7645206500892527e-05, 2.7645206500892527e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07801175117492676, -0.8146410584449768, 0.5025940537452698, 0.6845578551292419, -1.0126268863677979, -0.7875562906265259, -9.087968646781519e-05, 9.087968646781519e-05, 0.6033035516738892, -1.2556267976760864, 0.9889753460884094, -1.6756312847137451, 0.5388342142105103, 1.1446174383163452, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.018120087683200836, -0.8634698987007141, 0.568970799446106, 0.7131685614585876, -1.0130083560943604, -0.7818341255187988, -9.087968646781519e-05, 9.087968646781519e-05, 0.6078813076019287, -1.124399185180664, 0.8554589152336121, -1.6752498149871826, 0.48962387442588806, 1.2392233610153198, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0722896158695221, -0.955024003982544, 0.6746395230293274, 0.8188372850418091, -1.0133898258209229, -0.8196002244949341, -9.087968646781519e-05, 9.087968646781519e-05, 0.6212329268455505, -1.0030899047851562, 0.7288090586662292, -1.6756312847137451, 0.44651713967323303, 1.339932918548584, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15354390442371368, -1.0774776935577393, 0.8047226667404175, 0.9218356609344482, -1.0408560037612915, -0.8588922023773193, -9.087968646781519e-05, 9.087968646781519e-05, 0.6418325901031494, -0.8981841802597046, 0.6174181699752808, -1.6748683452606201, 0.39921414852142334, 1.4433127641677856, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21648737788200378, -1.196879506111145, 0.9336614012718201, 0.9809643626213074, -1.0820554494857788, -0.881780743598938, -9.087968646781519e-05, 9.087968646781519e-05, 0.6605249047279358, -0.8226520419120789, 0.536163866519928, -1.6733424663543701, 0.36526283621788025, 1.5272372961044312, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2615014910697937, -1.2907224893569946, 1.0320820808410645, 1.0210193395614624, -1.1095216274261475, -0.8966583013534546, -9.087968646781519e-05, 9.087968646781519e-05, 0.6769283413887024, -0.7749675512313843, 0.47779813408851624, -1.6733424663543701, 0.33474478125572205, 1.586366057395935, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2958342730998993, -1.3654917478561401, 1.1022735834121704, 1.046196699142456, -1.120202898979187, -0.9145876169204712, -9.087968646781519e-05, 9.087968646781519e-05, 0.6868467330932617, -0.7490272521972656, 0.4369802474975586, -1.6737239360809326, 0.2954528033733368, 1.6287097930908203, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -1.4238574504852295, 1.1476691961288452, 1.0885404348373413, -1.1305028200149536, -0.9405279755592346, -9.087968646781519e-05, 9.087968646781519e-05, 0.6914244294166565, -0.735675573348999, 0.41218432784080505, -1.6752498149871826, 0.2618829607963562, 1.653505802154541, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.344663143157959, -1.4600976705551147, 1.1736094951629639, 1.1190584897994995, -1.1308842897415161, -0.9588387608528137, -9.087968646781519e-05, 9.087968646781519e-05, 0.6948577165603638, -0.7288090586662292, 0.39730677008628845, -1.6756312847137451, 0.23632410168647766, 1.666094422340393, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.35229265689849854, -1.487945318222046, 1.19459068775177, 1.1400396823883057, -1.126688003540039, -0.9718089699745178, -9.087968646781519e-05, 9.087968646781519e-05, 0.6960021257400513, -0.725375771522522, 0.3892957866191864, -1.6756312847137451, 0.2145799994468689, 1.6729609966278076, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3580147922039032, -1.5257114171981812, 1.2220568656921387, 1.1736094951629639, -1.1175326108932495, -0.9920271635055542, -9.087968646781519e-05, 9.087968646781519e-05, 0.697528064250946, -0.7230868935585022, 0.3847180902957916, -1.6756312847137451, 0.1993209719657898, 1.6729609966278076, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3595407009124756, -1.566529393196106, 1.2525749206542969, 1.2022202014923096, -1.110666036605835, -1.0049973726272583, -9.087968646781519e-05, 9.087968646781519e-05, 0.697528064250946, -0.7223239541053772, 0.38281071186065674, -1.6756312847137451, 0.18902114033699036, 1.6729609966278076, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3553444743156433, -1.6058213710784912, 1.2842373847961426, 1.2182421684265137, -1.10685133934021, -1.0172045230865479, -9.087968646781519e-05, 9.087968646781519e-05, 0.697528064250946, -0.7219424843788147, 0.38204777240753174, -1.6756312847137451, 0.1825360506772995, 1.6725795269012451, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34847790002822876, -1.6409170627593994, 1.3147554397583008, 1.2254902124404907, -1.106088399887085, -1.0202564001083374, -9.087968646781519e-05, 9.087968646781519e-05, 0.697528064250946, -0.7219424843788147, 0.38090333342552185, -1.6756312847137451, 0.1813916265964508, 1.6721980571746826, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3416113555431366, -1.6718165874481201, 1.343747615814209, 1.2319753170013428, -1.103417992591858, -1.025978446006775, -9.087968646781519e-05, 9.087968646781519e-05, 0.697528064250946, -0.7219424843788147, 0.38090333342552185, -1.6752498149871826, 0.17910276353359222, 1.6680018901824951, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33665215969085693, -1.6985198259353638, 1.3689249753952026, 1.2357900142669678, -1.103417992591858, -1.0328450202941895, -9.087968646781519e-05, 9.087968646781519e-05, 0.697528064250946, -0.7219424843788147, 0.38090333342552185, -1.6741054058074951, 0.17681391537189484, 1.663805603981018, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33512628078460693, -1.71492338180542, 1.3879988193511963, 1.2357900142669678, -1.103417992591858, -1.0336079597473145, -9.087968646781519e-05, 9.087968646781519e-05, 0.697528064250946, -0.7211795449256897, 0.38128480315208435, -1.6733424663543701, 0.17528800666332245, 1.6611353158950806, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33436331152915955, -1.7069122791290283, 1.3948653936386108, 1.2396048307418823, -1.103417992591858, -1.0370413064956665, -9.087968646781519e-05, 9.087968646781519e-05, 0.6971465349197388, -0.7112611532211304, 0.38242924213409424, -1.6737239360809326, 0.17414358258247375, 1.6531243324279785, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3374151289463043, -1.658083438873291, 1.3857098817825317, 1.2392233610153198, -1.102655053138733, -1.036659836769104, -9.087968646781519e-05, 9.087968646781519e-05, 0.6849393248558044, -0.6929503083229065, 0.3854810297489166, -1.6737239360809326, 0.1661325991153717, 1.6458762884140015, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.35114824771881104, -1.573395848274231, 1.354810357093811, 1.2388418912887573, -1.0961699485778809, -1.0362783670425415, -9.087968646781519e-05, 9.087968646781519e-05, 0.6593804955482483, -0.6857023239135742, 0.3927290737628937, -1.6741054058074951, 0.1657511293888092, 1.6344319581985474, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3709849715232849, -1.4681086540222168, 1.2933928966522217, 1.2373158931732178, -1.0687037706375122, -1.0385671854019165, -9.087968646781519e-05, 9.087968646781519e-05, 0.6315327882766724, -0.7009612917900085, 0.41485464572906494, -1.6760128736495972, 0.1840619444847107, 1.6149767637252808, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3881513774394989, -1.348706841468811, 1.19153892993927, 1.2220568656921387, -1.0046159029006958, -1.0481040477752686, -9.087968646781519e-05, 9.087968646781519e-05, 0.6052109599113464, -0.7639048099517822, 0.47398337721824646, -1.6756312847137451, 0.26684215664863586, 1.5917067527770996, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3877699077129364, -1.2235828638076782, 1.0473411083221436, 1.1503394842147827, -0.9225986003875732, -1.0210193395614624, -9.087968646781519e-05, 9.087968646781519e-05, 0.5861371755599976, -0.8646143078804016, 0.5598153471946716, -1.6752498149871826, 0.3885328471660614, 1.5604257583618164, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3686961233615875, -1.102655053138733, 0.8981841802597046, 1.0275044441223145, -0.8463035225868225, -0.9515907764434814, -9.087968646781519e-05, 9.087968646781519e-05, 0.5724040865898132, -0.9885938763618469, 0.6662470698356628, -1.6748683452606201, 0.5167086124420166, 1.519226312637329, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34618905186653137, -0.9946975111961365, 0.7730602025985718, 0.9363317489624023, -0.7879377603530884, -0.9027618765830994, -9.087968646781519e-05, 9.087968646781519e-05, 0.5651560425758362, -1.102655053138733, 0.7665750980377197, -1.6729609966278076, 0.6261920928955078, 1.4780269861221313, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3133821487426758, -0.9035248160362244, 0.6708247661590576, 0.8863584399223328, -0.7536049485206604, -0.8764400482177734, -9.087968646781519e-05, 9.087968646781519e-05, 0.5613412857055664, -1.2014572620391846, 0.8527885675430298, -1.6729609966278076, 0.7040131092071533, 1.4463645219802856, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2771419882774353, -0.8234149813652039, 0.5960555672645569, 0.8592736721038818, -0.734149694442749, -0.8611810207366943, -9.087968646781519e-05, 9.087968646781519e-05, 0.5582894682884216, -1.275081992149353, 0.9153505563735962, -1.6729609966278076, 0.7513160705566406, 1.426146388053894, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2473868876695633, -0.763523280620575, 0.5514228940010071, 0.840962827205658, -0.7234683632850647, -0.8554589152336121, -9.087968646781519e-05, 9.087968646781519e-05, 0.5571450591087341, -1.3258183002471924, 0.9584572911262512, -1.6733424663543701, 0.7681010365486145, 1.4127947092056274, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22678720951080322, -0.7265201807022095, 0.5277714133262634, 0.8287556171417236, -0.7116426229476929, -0.8504997491836548, -9.087968646781519e-05, 9.087968646781519e-05, 0.5510414242744446, -1.3685435056686401, 0.9939345121383667, -1.6733424663543701, 0.776493489742279, 1.4013503789901733, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21686884760856628, -0.7093538045883179, 0.5140383243560791, 0.8260852694511414, -0.7120240926742554, -0.8455405235290527, -9.087968646781519e-05, 9.087968646781519e-05, 0.5430304408073425, -1.4055466651916504, 1.02216374874115, -1.6741054058074951, 0.7742046117782593, 1.3918135166168213, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.7021057605743408, 0.5052643418312073, 0.8222705721855164, -0.7097352743148804, -0.840962827205658, -9.087968646781519e-05, 9.087968646781519e-05, 0.5365453362464905, -1.4421683549880981, 1.050774335861206, -1.6737239360809326, 0.7654306888580322, 1.3830395936965942, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20580606162548065, -0.6994354128837585, 0.4991607666015625, 0.8196002244949341, -0.7089722752571106, -0.840199887752533, -9.087968646781519e-05, 9.087968646781519e-05, 0.5315861701965332, -1.4780269861221313, 1.0820554494857788, -1.6741054058074951, 0.7520790696144104, 1.3757915496826172, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20237277448177338, -0.698291003704071, 0.4957274794578552, 0.8192187547683716, -0.7085908055305481, -0.8367666006088257, -9.087968646781519e-05, 9.087968646781519e-05, 0.5270084738731384, -1.5135042667388916, 1.114862322807312, -1.6741054058074951, 0.7455939650535583, 1.3696879148483276, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2004653960466385, -0.6979095339775085, 0.49382010102272034, 0.8188372850418091, -0.7070649266242981, -0.8371480703353882, -9.087968646781519e-05, 9.087968646781519e-05, 0.5224307775497437, -1.5447852611541748, 1.1461433172225952, -1.6737239360809326, 0.7360570430755615, 1.3666361570358276, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -0.6979095339775085, 0.49305713176727295, 0.8184558153152466, -0.7066834568977356, -0.8371480703353882, -9.087968646781519e-05, 9.087968646781519e-05, 0.5148012638092041, -1.566529393196106, 1.1663614511489868, -1.6741054058074951, 0.7307164072990417, 1.3651102781295776, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -0.6979095339775085, 0.49229419231414795, 0.8184558153152466, -0.7066834568977356, -0.8371480703353882, -9.087968646781519e-05, 9.087968646781519e-05, 0.506027340888977, -1.580643892288208, 1.1758984327316284, -1.6741054058074951, 0.7242313027381897, 1.3651102781295776, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -0.697528064250946, 0.49229419231414795, 0.8184558153152466, -0.7066834568977356, -0.837911069393158, -9.087968646781519e-05, 9.087968646781519e-05, 0.4964904189109802, -1.5787365436553955, 1.1701762676239014, -1.6741054058074951, 0.7051575779914856, 1.3715953826904297, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20199130475521088, -0.691805899143219, 0.49076828360557556, 0.8184558153152466, -0.7070649266242981, -0.8413442969322205, -9.087968646781519e-05, 9.087968646781519e-05, 0.4892423748970032, -1.511215329170227, 1.113336443901062, -1.6760128736495972, 0.6292439103126526, 1.3914320468902588, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20389868319034576, -0.6742580533027649, 0.4877164959907532, 0.8180742859840393, -0.7078278660774231, -0.8463035225868225, -9.087968646781519e-05, 9.087968646781519e-05, 0.4877164959907532, -1.3792248964309692, 1.0210193395614624, -1.6756312847137451, 0.5128938555717468, 1.409742832183838, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20084688067436218, -0.654421329498291, 0.4846646785736084, 0.8180742859840393, -0.7085908055305481, -0.8520256280899048, -9.087968646781519e-05, 9.087968646781519e-05, 0.47779813408851624, -1.2449454069137573, 0.9317540526390076, -1.6729609966278076, 0.44270238280296326, 1.432249903678894, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -0.6464102864265442, 0.47817960381507874, 0.8180742859840393, -0.7097352743148804, -0.8527885675430298, -9.087968646781519e-05, 9.087968646781519e-05, 0.45681697130203247, -1.1427099704742432, 0.8649957776069641, -1.6760128736495972, 0.4369802474975586, 1.4631494283676147, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19550621509552002, -0.6521324515342712, 0.4724574685096741, 0.8180742859840393, -0.7089722752571106, -0.8581292629241943, -9.087968646781519e-05, 9.087968646781519e-05, 0.40951400995254517, -1.0954070091247559, 0.8375295400619507, -1.574158787727356, 0.5312047004699707, 1.3986800909042358, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1810101419687271, -0.6589990258216858, 0.4682612419128418, 0.8169298768043518, -0.7085908055305481, -0.8649957776069641, -9.087968646781519e-05, 9.087968646781519e-05, 0.30193790793418884, -1.0896848440170288, 0.8215075731277466, -1.355954885482788, 0.6872282028198242, 1.2438009977340698, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15468832850456238, -0.6589990258216858, 0.46177613735198975, 0.8176928162574768, -0.7085908055305481, -0.8672846555709839, -9.087968646781519e-05, 9.087968646781519e-05, 0.2138170450925827, -1.0843442678451538, 0.7932783961296082, -1.1621652841567993, 0.7917525172233582, 1.128213882446289, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11387044936418533, -0.6555657386779785, 0.4533836841583252, 0.8176928162574768, -0.7078278660774231, -0.8649957776069641, -9.087968646781519e-05, 9.087968646781519e-05, 0.1333257108926773, -1.0934996604919434, 0.7581826448440552, -1.0328450202941895, 0.8562218546867371, 1.0385671854019165, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07534141838550568, -0.6509880423545837, 0.44308385252952576, 0.8180742859840393, -0.7063019871711731, -0.8592736721038818, -9.087968646781519e-05, 9.087968646781519e-05, 0.07953765243291855, -1.1160067319869995, 0.7318608164787292, -0.9008545279502869, 0.9084840416908264, 0.9390020370483398, -0.003944101743400097, 0.003944101743400097], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.046730753034353256, -0.6460288166999817, 0.43240252137184143, 0.8180742859840393, -0.7070649266242981, -0.8535515666007996, -9.087968646781519e-05, 9.087968646781519e-05, 0.043678950518369675, -1.1629282236099243, 0.7295719981193542, -0.812352180480957, 0.9390020370483398, 0.8672846555709839, -0.023586468771100044, 0.023586468771100044], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03223468363285065, -0.6441214680671692, 0.42591744661331177, 0.8180742859840393, -0.7074463963508606, -0.8478294014930725, -9.087968646781519e-05, 9.087968646781519e-05, 0.02880140393972397, -1.2136644124984741, 0.7402533292770386, -0.7597085237503052, 0.9714275002479553, 0.8291370868682861, -0.026521677151322365, 0.026521677151322365], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.024605173617601395, -0.6418325901031494, 0.4217212200164795, 0.8176928162574768, -0.7093538045883179, -0.8440146446228027, -9.087968646781519e-05, 9.087968646781519e-05, 0.01773861236870289, -1.2556267976760864, 0.7494087219238281, -0.7352941036224365, 0.9725719094276428, 0.810826301574707, -0.02795509435236454, 0.02795509435236454], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02040894143283367, -0.6403067111968994, 0.4194323718547821, 0.8180742859840393, -0.7097352743148804, -0.8405813574790955, -9.087968646781519e-05, 9.087968646781519e-05, 0.015449759550392628, -1.2869077920913696, 0.7539864182472229, -0.7177462577819824, 0.9798199534416199, 0.7963302135467529, -0.027964530512690544, 0.027964530512690544], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01773861236870289, -0.6399252414703369, 0.4182879328727722, 0.8180742859840393, -0.7093538045883179, -0.8363851308822632, -9.087968646781519e-05, 9.087968646781519e-05, 0.01201647985726595, -1.3097963333129883, 0.7558938264846802, -0.7089722752571106, 0.9802014231681824, 0.7837415337562561, -0.02795509435236454, 0.02795509435236454], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01583123579621315, -0.6399252414703369, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8333333134651184, -9.087968646781519e-05, 9.087968646781519e-05, 0.012779430486261845, -1.3242924213409424, 0.7566567659378052, -0.7024872303009033, 0.9809643626213074, 0.7745860815048218, -0.027936214581131935, 0.027936214581131935], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.014686808921396732, -0.6399252414703369, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8321889042854309, -9.087968646781519e-05, 9.087968646781519e-05, 0.013923857361078262, -1.336499571800232, 0.7570382356643677, -0.6994354128837585, 0.9794384837150574, 0.770008385181427, -0.027945656329393387, 0.027945656329393387], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.014686808921396732, -0.6399252414703369, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8295185565948486, -9.087968646781519e-05, 9.087968646781519e-05, 0.018501564860343933, -1.3490883111953735, 0.7570382356643677, -0.6986724734306335, 0.9786755442619324, 0.7646677494049072, -0.027936214581131935, 0.027936214581131935], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01430533267557621, -0.6399252414703369, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8291370868682861, -9.087968646781519e-05, 9.087968646781519e-05, 0.02880140393972397, -1.3616769313812256, 0.7589455842971802, -0.6956206560134888, 0.9767681360244751, 0.7585641145706177, -0.027936214581131935, 0.027936214581131935], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.013542382046580315, -0.6399252414703369, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8291370868682861, -9.087968646781519e-05, 9.087968646781519e-05, 0.042153049260377884, -1.3765544891357422, 0.763523280620575, -0.6960021257400513, 0.9748607873916626, 0.7528420090675354, -0.027936214581131935, 0.027936214581131935], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.013160906732082367, -0.6395437717437744, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8291370868682861, -9.087968646781519e-05, 9.087968646781519e-05, 0.0555046908557415, -1.3925764560699463, 0.770771324634552, -0.6937133073806763, 0.9752422571182251, 0.7478827834129333, -0.027926772832870483, 0.027926772832870483], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012397955171763897, -0.6395437717437744, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8287556171417236, -9.087968646781519e-05, 9.087968646781519e-05, 0.0715266615152359, -1.407454013824463, 0.778019368648529, -0.6872282028198242, 0.9706645011901855, 0.7471198439598083, -0.027175672352313995, 0.027175672352313995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.010872052982449532, -0.6395437717437744, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8283741474151611, -9.087968646781519e-05, 9.087968646781519e-05, 0.09098191559314728, -1.41775381565094, 0.7852674126625061, -0.6845578551292419, 0.9668498039245605, 0.7440680265426636, -0.026512013748288155, 0.026512013748288155], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.00667582219466567, -0.6395437717437744, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8283741474151611, -9.087968646781519e-05, 9.087968646781519e-05, 0.10852979123592377, -1.4246203899383545, 0.7925154566764832, -0.6872282028198242, 0.960746169090271, 0.7440680265426636, -0.026531340554356575, 0.026531340554356575], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0036240178160369396, -0.6395437717437744, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8260852694511414, -9.087968646781519e-05, 9.087968646781519e-05, 0.11692225188016891, -1.427672266960144, 0.7978560924530029, -0.691042959690094, 0.9565499424934387, 0.7448310256004333, -0.026531340554356575, 0.026531340554356575], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.00019073777366429567, -0.6395437717437744, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8260852694511414, -9.087968646781519e-05, 9.087968646781519e-05, 0.1199740618467331, -1.4303425550460815, 0.8020523190498352, -0.6921873688697815, 0.9531166553497314, 0.7490272521972656, -0.026531340554356575, 0.026531340554356575], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.00019073777366429567, -0.6395437717437744, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8260852694511414, -9.087968646781519e-05, 9.087968646781519e-05, 0.12149996310472488, -1.4318684339523315, 0.8062485456466675, -0.6952391862869263, 0.952735185623169, 0.760471522808075, -0.026531340554356575, 0.026531340554356575], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0009536888683214784, -0.6395437717437744, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8260852694511414, -9.087968646781519e-05, 9.087968646781519e-05, 0.12684062123298645, -1.4333943128585815, 0.8089188933372498, -0.6960021257400513, 0.9504463076591492, 0.768482506275177, -0.026512013748288155, 0.026512013748288155], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0009536888683214784, -0.6395437717437744, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8260852694511414, -9.087968646781519e-05, 9.087968646781519e-05, 0.14095520973205566, -1.434920310974121, 0.812352180480957, -0.6986724734306335, 0.9435797929763794, 0.7745860815048218, -0.025529684498906136, 0.025529684498906136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0013351644156500697, -0.6395437717437744, 0.4175249934196472, 0.8180742859840393, -0.7093538045883179, -0.8260852694511414, -9.087968646781519e-05, 9.087968646781519e-05, 0.16002899408340454, -1.438735008239746, 0.8165484070777893, -0.6986724734306335, 0.9424353241920471, 0.7825970649719238, -0.02441849373281002, 0.02441849373281002], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0013351644156500697, -0.6395437717437744, 0.4175249934196472, 0.8180742859840393, -0.7089722752571106, -0.8260852694511414, -9.087968646781519e-05, 9.087968646781519e-05, 0.17833982408046722, -1.4425498247146606, 0.8215075731277466, -0.7047760486602783, 0.9412909150123596, 0.7898451089859009, -0.018348686397075653, 0.018348686397075653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0013351644156500697, -0.6391623020172119, 0.4175249934196472, 0.8180742859840393, -0.7089722752571106, -0.8257037997245789, -9.087968646781519e-05, 9.087968646781519e-05, 0.18902114033699036, -1.4440757036209106, 0.8287556171417236, -0.7101167440414429, 0.9363317489624023, 0.7970931529998779, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0013351644156500697, -0.6361104846000671, 0.4175249934196472, 0.8180742859840393, -0.7089722752571106, -0.8257037997245789, -9.087968646781519e-05, 9.087968646781519e-05, 0.19398032128810883, -1.4360647201538086, 0.8390554785728455, -0.7040131092071533, 0.9206912517547607, 0.802815318107605, -0.002139124320819974, 0.002139124320819974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0020981156267225742, -0.6250476837158203, 0.4175249934196472, 0.8184558153152466, -0.7085908055305481, -0.8299000263214111, -9.087968646781519e-05, 9.087968646781519e-05, 0.1970321238040924, -1.4093613624572754, 0.8566033244132996, -0.7063019871711731, 0.9019989371299744, 0.8241779208183289, -0.002143674762919545, 0.002143674762919545], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.008964675478637218, -0.5991073250770569, 0.422102689743042, 0.8180742859840393, -0.7093538045883179, -0.8382925391197205, -9.087968646781519e-05, 9.087968646781519e-05, 0.21648737788200378, -1.3723583221435547, 0.8966583013534546, -0.8020523190498352, 0.8962767720222473, 0.9058136940002441, -0.002139124320819974, 0.002139124320819974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.034142062067985535, -0.5655375123023987, 0.44270238280296326, 0.8184558153152466, -0.7288090586662292, -0.8562218546867371, -9.087968646781519e-05, 9.087968646781519e-05, 0.24013885855674744, -1.342221736907959, 0.9557870030403137, -0.9122987985610962, 0.9054322242736816, 0.995078980922699, -0.002139124320819974, 0.002139124320819974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06504157930612564, -0.5277714133262634, 0.4720759987831116, 0.8184558153152466, -0.7566567659378052, -0.8794918656349182, -9.087968646781519e-05, 9.087968646781519e-05, 0.2943083941936493, -1.3311588764190674, 1.0362783670425415, -1.0275044441223145, 0.9370946884155273, 1.0851072072982788, -0.002139124320819974, 0.002139124320819974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08373387902975082, -0.4861905872821808, 0.5037384629249573, 0.8184558153152466, -0.778019368648529, -0.9031433463096619, -9.087968646781519e-05, 9.087968646781519e-05, 0.3923476040363312, -1.348706841468811, 1.1331731081008911, -1.178568720817566, 0.994316041469574, 1.1884870529174805, -0.002139124320819974, 0.002139124320819974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10662241280078888, -0.44651713967323303, 0.5388342142105103, 0.8180742859840393, -0.8001449704170227, -0.9218356609344482, -9.087968646781519e-05, 9.087968646781519e-05, 0.5106050372123718, -1.3910505771636963, 1.2380788326263428, -1.3254368305206299, 1.0610742568969727, 1.28233003616333, -0.002139124320819974, 0.002139124320819974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.13828489184379578, -0.41027694940567017, 0.576981782913208, 0.8184558153152466, -0.8371480703353882, -0.9386205673217773, -9.087968646781519e-05, 9.087968646781519e-05, 0.6296253800392151, -1.4578088521957397, 1.3464179039001465, -1.4471274614334106, 1.1312657594680786, 1.3563363552093506, -0.002139124320819974, 0.002139124320819974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.15316243469715118, -0.3763256371021271, 0.6063553690910339, 0.8184558153152466, -0.8691920638084412, -0.9489204287528992, -9.087968646781519e-05, 9.087968646781519e-05, 0.735675573348999, -1.5436408519744873, 1.4543755054473877, -1.5470740795135498, 1.2029831409454346, 1.41622793674469, -0.002139124320819974, 0.002139124320819974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.16155488789081573, -0.35000380873680115, 0.6265735626220703, 0.8184558153152466, -0.8871213793754578, -0.9596017599105835, -9.087968646781519e-05, 9.087968646781519e-05, 0.8234149813652039, -1.638246774673462, 1.5596628189086914, -1.6103990077972412, 1.263256311416626, 1.4654383659362793, -0.002139124320819974, 0.002139124320819974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.16193637251853943, -0.33207446336746216, 0.6399252414703369, 0.8184558153152466, -0.9019989371299744, -0.968757152557373, -9.087968646781519e-05, 9.087968646781519e-05, 0.892080545425415, -1.733997106552124, 1.6603723764419556, -1.6546502113342285, 1.3139925003051758, 1.5070191621780396, -0.002139124320819974, 0.002139124320819974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.15774014592170715, -0.32101166248321533, 0.647173285484314, 0.8184558153152466, -0.9111543297767639, -0.9752422571182251, -9.087968646781519e-05, 9.087968646781519e-05, 0.9462500810623169, -1.813725471496582, 1.7526893615722656, -1.6813534498214722, 1.353284478187561, 1.5383001565933228, -0.00626466516405344, 0.00626466516405344], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.15506981313228607, -0.3130006790161133, 0.6540398001670837, 0.8184558153152466, -0.9180209040641785, -0.9821087718009949, -9.087968646781519e-05, 9.087968646781519e-05, 0.9920271635055542, -1.8644617795944214, 1.8244068622589111, -1.6927977800369263, 1.3700693845748901, 1.5611886978149414, -0.01767595484852791, 0.01767595484852791], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.15354390442371368, -0.30270084738731384, 0.6647211313247681, 0.8184558153152466, -0.9203097820281982, -0.9889753460884094, -9.087968646781519e-05, 9.087968646781519e-05, 1.0248340368270874, -1.8762874603271484, 1.8545433282852173, -1.7042419910430908, 1.3662546873092651, 1.5764477252960205, -0.01773424819111824, 0.01773424819111824], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.15392538905143738, -0.2950713336467743, 0.6788357496261597, 0.8184558153152466, -0.9214541912078857, -0.9946975111961365, -9.087968646781519e-05, 9.087968646781519e-05, 1.0488669872283936, -1.8461508750915527, 1.8480583429336548, -1.7092012166976929, 1.3303959369659424, 1.5939955711364746, -0.01773424819111824, 0.01773424819111824], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.15812161564826965, -0.28553444147109985, 0.6948577165603638, 0.8184558153152466, -0.9214541912078857, -1.0027084350585938, -9.087968646781519e-05, 9.087968646781519e-05, 1.0393301248550415, -1.7900739908218384, 1.80113685131073, -1.7080568075180054, 1.3101778030395508, 1.6115434169769287, -0.017695382237434387, 0.017695382237434387], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.16308079659938812, -0.2767605185508728, 0.7082093358039856, 0.8188372850418091, -0.9218356609344482, -1.0111008882522583, -9.087968646781519e-05, 9.087968646781519e-05, 0.9981307983398438, -1.6924163103103638, 1.7015717029571533, -1.717212200164795, 1.273556113243103, 1.6336690187454224, -0.011766643263399601, 0.011766643263399601], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1676585078239441, -0.2733272314071655, 0.7108796834945679, 0.8192187547683716, -0.9218356609344482, -1.0156786441802979, -9.087968646781519e-05, 9.087968646781519e-05, 0.9458686113357544, -1.5676738023757935, 1.560807228088379, -1.7137788534164429, 1.2060348987579346, 1.6554131507873535, -0.0032375366427004337, 0.0032375366427004337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.17032882571220398, -0.28286412358283997, 0.6971465349197388, 0.8188372850418091, -0.9214541912078857, -1.0175859928131104, -9.087968646781519e-05, 9.087968646781519e-05, 0.8916990756988525, -1.429198145866394, 1.4063096046447754, -1.7175936698913574, 1.10990309715271, 1.6748683452606201, -5.750389027525671e-05, 5.750389027525671e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.17032882571220398, -0.3068970739841461, 0.6700618267059326, 0.8192187547683716, -0.9214541912078857, -1.0179674625396729, -9.087968646781519e-05, 9.087968646781519e-05, 0.8562218546867371, -1.2945373058319092, 1.2525749206542969, -1.7153048515319824, 0.9863049983978271, 1.6901273727416992, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.164988175034523, -0.3416113555431366, 0.6383993029594421, 0.8199816942214966, -0.9214541912078857, -1.0179674625396729, -9.087968646781519e-05, 9.087968646781519e-05, 0.8283741474151611, -1.177042841911316, 1.10990309715271, -1.7133973836898804, 0.8691920638084412, 1.7072938680648804, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.14057374000549316, -0.38242924213409424, 0.613603413105011, 0.8272297382354736, -0.9214541912078857, -1.0175859928131104, -9.087968646781519e-05, 9.087968646781519e-05, 0.7841230034828186, -1.0767147541046143, 0.9859235286712646, -1.6237506866455078, 0.7631418108940125, 1.6512168645858765, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06160829961299896, -0.44460976123809814, 0.6048294901847839, 0.8882657885551453, -0.9195467829704285, -1.0488669872283936, -9.087968646781519e-05, 9.087968646781519e-05, 0.7104982137680054, -0.9885938763618469, 0.8627069592475891, -1.4173723459243774, 0.6830319762229919, 1.4940489530563354, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09479667246341705, -0.5319676399230957, 0.6124590039253235, 1.0336079597473145, -0.9119172692298889, -1.1400396823883057, -9.087968646781519e-05, 9.087968646781519e-05, 0.6578545570373535, -0.9302281141281128, 0.7658121585845947, -1.284618854522705, 0.6265735626220703, 1.3971542119979858, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2588311731815338, -0.6406881809234619, 0.6414511203765869, 1.1663614511489868, -0.9096284508705139, -1.2232013940811157, -9.087968646781519e-05, 9.087968646781519e-05, 0.6265735626220703, -0.8974212408065796, 0.6952391862869263, -1.2083238363265991, 0.5861371755599976, 1.3384069204330444, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.38090333342552185, -0.7589455842971802, 0.6940947771072388, 1.2491416931152344, -0.9065766334533691, -1.265545129776001, -9.087968646781519e-05, 9.087968646781519e-05, 0.6063553690910339, -0.8794918656349182, 0.6433585286140442, -1.1667429208755493, 0.5567635893821716, 1.3014038801193237, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4713130295276642, -0.8714808821678162, 0.7631418108940125, 1.2914854288101196, -0.9142061471939087, -1.273556113243103, -0.0024495567195117474, 0.0024495567195117474, 0.5888075232505798, -0.8638513684272766, 0.6052109599113464, -1.1411840915679932, 0.5331120491027832, 1.2827115058898926, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5388342142105103, -0.970283031463623, 0.8367666006088257, 1.342984676361084, -0.9359502792358398, -1.276607871055603, -0.004652101080864668, 0.004652101080864668, 0.5624856948852539, -0.8440146446228027, 0.5739299654960632, -1.125925064086914, 0.5132753252983093, 1.271267294883728, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5922408103942871, -1.043144941329956, 0.8962767720222473, 1.3937208652496338, -0.959983229637146, -1.2876707315444946, -0.004652101080864668, 0.004652101080864668, 0.5323491096496582, -0.8260852694511414, 0.5518043637275696, -1.120202898979187, 0.5006866455078125, 1.267071008682251, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.620851457118988, -1.0938811302185059, 0.9416723847389221, 1.433012843132019, -0.9725719094276428, -1.2983520030975342, -0.006496358197182417, 0.006496358197182417, 0.5117494463920593, -0.8157854676246643, 0.5407415628433228, -1.1137179136276245, 0.4968718886375427, 1.258297085762024, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6441214680671692, -1.1358433961868286, 0.9805828928947449, 1.4524681568145752, -0.9760051965713501, -1.3033112287521362, -0.010834459215402603, 0.010834459215402603, 0.4999237060546875, -0.8100633025169373, 0.5334935784339905, -1.10990309715271, 0.49267566204071045, 1.2506675720214844, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6677729487419128, -1.1736094951629639, 1.0152971744537354, 1.4623864889144897, -0.9821087718009949, -1.3025482892990112, -0.01841721124947071, 0.01841721124947071, 0.49114975333213806, -0.8073930144309998, 0.5277714133262634, -1.1095216274261475, 0.4873350262641907, 1.2453268766403198, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7036316394805908, -1.2014572620391846, 1.041237473487854, 1.512359857559204, -0.9851605892181396, -1.3151369094848633, -0.027385829016566277, 0.027385829016566277, 0.4850461483001709, -0.8062485456466675, 0.5228122472763062, -1.1079957485198975, 0.4869535267353058, 1.2415121793746948, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7478827834129333, -1.2224383354187012, 1.0591669082641602, 1.5844587087631226, -0.9882124066352844, -1.3361181020736694, -0.029541801661252975, 0.029541801661252975, 0.4804684519767761, -0.80510413646698, 0.5170900821685791, -1.10685133934021, 0.4873350262641907, 1.2373158931732178, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7825970649719238, -1.2438009977340698, 1.0728999376296997, 1.6325246095657349, -0.9882124066352844, -1.338788390159607, -0.031480055302381516, 0.031480055302381516, 0.47817960381507874, -0.80510413646698, 0.5132753252983093, -1.1072328090667725, 0.4861905872821808, 1.2365529537200928, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8089188933372498, -1.266308069229126, 1.0858701467514038, 1.6592278480529785, -0.9885938763618469, -1.3307774066925049, -0.03343106806278229, 0.03343106806278229, 0.47703516483306885, -0.80510413646698, 0.5098420977592468, -1.1072328090667725, 0.4819943606853485, 1.2342641353607178, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8295185565948486, -1.2804226875305176, 1.098077416419983, 1.6752498149871826, -0.9874494671821594, -1.3200961351394653, -0.0339585542678833, 0.0339585542678833, 0.47665369510650635, -0.80510413646698, 0.506027340888977, -1.1072328090667725, 0.4819943606853485, 1.2338826656341553, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8424887657165527, -1.2891966104507446, 1.10685133934021, 1.6844053268432617, -0.9817273020744324, -1.3109407424926758, -0.0339585542678833, 0.0339585542678833, 0.47665369510650635, -0.80510413646698, 0.501068115234375, -1.1072328090667725, 0.482375830411911, 1.2338826656341553, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84592205286026, -1.3056000471115112, 1.1190584897994995, 1.6924163103103638, -0.9725719094276428, -1.3048371076583862, -0.0339585542678833, 0.0339585542678833, 0.47665369510650635, -0.80510413646698, 0.4980163276195526, -1.1072328090667725, 0.482375830411911, 1.2338826656341553, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84592205286026, -1.3231478929519653, 1.1293584108352661, 1.6935607194900513, -0.9634165167808533, -1.3014038801193237, -0.0339585542678833, 0.0339585542678833, 0.47665369510650635, -0.80510413646698, 0.49496451020240784, -1.1072328090667725, 0.4819943606853485, 1.2335011959075928, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84592205286026, -1.344510555267334, 1.1396582126617432, 1.6958495378494263, -0.9561684727668762, -1.2972075939178467, -0.0339585542678833, 0.0339585542678833, 0.47627222537994385, -0.80510413646698, 0.49420157074928284, -1.107614278793335, 0.4819943606853485, 1.2327382564544678, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84592205286026, -1.3685435056686401, 1.1518653631210327, 1.6958495378494263, -0.9504463076591492, -1.2937743663787842, -0.0339202918112278, 0.0339202918112278, 0.47665369510650635, -0.80510413646698, 0.49305713176727295, -1.107614278793335, 0.4819943606853485, 1.2300678491592407, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -1.3921949863433838, 1.1633096933364868, 1.6962310075759888, -0.9462500810623169, -1.2872892618179321, -0.027051148936152458, 0.027051148936152458, 0.47665369510650635, -0.80510413646698, 0.49229419231414795, -1.107614278793335, 0.4812313914299011, 1.2262531518936157, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.848210871219635, -1.405165195465088, 1.1697947978973389, 1.6977568864822388, -0.9458686113357544, -1.2857633829116821, -0.004881858825683594, 0.004881858825683594, 0.47550925612449646, -0.80510413646698, 0.49191272258758545, -1.107614278793335, 0.4797055125236511, 1.2228199243545532, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8546959757804871, -1.4093613624572754, 1.1732280254364014, 1.6962310075759888, -0.9431982636451721, -1.2804226875305176, -0.0011097490787506104, 0.0011097490787506104, 0.4720759987831116, -0.80510413646698, 0.49153125286102295, -1.107614278793335, 0.47665369510650635, 1.2224383354187012, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -1.407454013824463, 1.1736094951629639, 1.6962310075759888, -0.9424353241920471, -1.2926298379898071, -0.0011097490787506104, 0.0011097490787506104, 0.4705500900745392, -0.80510413646698, 0.49114975333213806, -1.107614278793335, 0.47398337721824646, 1.2209124565124512, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8218890428543091, -1.3929579257965088, 1.1655985116958618, 1.6908903121948242, -0.9405279755592346, -1.3128480911254883, -0.0011097490787506104, 0.0011097490787506104, 0.4690241813659668, -0.80510413646698, 0.49114975333213806, -1.107614278793335, 0.47398337721824646, 1.2193865776062012, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7581826448440552, -1.3651102781295776, 1.1461433172225952, 1.6268024444580078, -0.9287022352218628, -1.3155183792114258, -0.0011137158144265413, 0.0011137158144265413, 0.4678797721862793, -0.80510413646698, 0.49114975333213806, -1.107614278793335, 0.47398337721824646, 1.2186236381530762, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.3338292837142944, 1.1167696714401245, 1.494430422782898, -0.9187838435173035, -1.274319052696228, -0.0011097490787506104, 0.0011097490787506104, 0.4678797721862793, -0.80510413646698, 0.49114975333213806, -1.107614278793335, 0.47436484694480896, 1.2163348197937012, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5708781480789185, -1.3036926984786987, 1.0786221027374268, 1.3757915496826172, -0.9019989371299744, -1.2315938472747803, -0.0011097490787506104, 0.0011097490787506104, 0.4678797721862793, -0.80510413646698, 0.49114975333213806, -1.107614278793335, 0.47474631667137146, 1.2148088216781616, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49191272258758545, -1.2834744453430176, 1.0408560037612915, 1.2933928966522217, -0.8871213793754578, -1.201838731765747, -0.0011137158144265413, 0.0011137158144265413, 0.4674982726573944, -0.80510413646698, 0.49153125286102295, -1.107614278793335, 0.47512778639793396, 1.2129014730453491, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42629891633987427, -1.2731746435165405, 1.0084306001663208, 1.2388418912887573, -0.8695735335350037, -1.187342643737793, -0.0011097490787506104, 0.0011097490787506104, 0.4678797721862793, -0.80510413646698, 0.49191272258758545, -1.107614278793335, 0.47665369510650635, 1.2113755941390991, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3740367889404297, -1.2708858251571655, 0.9843976497650146, 1.2022202014923096, -0.8520256280899048, -1.1789501905441284, -0.0011097490787506104, 0.0011097490787506104, 0.4674982726573944, -0.80510413646698, 0.49343863129615784, -1.107614278793335, 0.47703516483306885, 1.2109941244125366, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3404669165611267, -1.278515338897705, 0.9664682745933533, 1.180094599723816, -0.839436948299408, -1.1774243116378784, -0.0011097490787506104, 0.0011097490787506104, 0.4678797721862793, -0.8062485456466675, 0.49458304047584534, -1.107614278793335, 0.47550925612449646, 1.2109941244125366, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.31872281432151794, -1.2937743663787842, 0.951972246170044, 1.1701762676239014, -0.8314259648323059, -1.1774243116378784, -0.0011097490787506104, 0.0011097490787506104, 0.4678797721862793, -0.8062485456466675, 0.4957274794578552, -1.107614278793335, 0.47512778639793396, 1.2109941244125366, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3072785437107086, -1.3075073957443237, 0.9409094452857971, 1.1629282236099243, -0.8104447722434998, -1.1781872510910034, -0.0011097490787506104, 0.0011097490787506104, 0.4674982726573944, -0.80663001537323, 0.4957274794578552, -1.107614278793335, 0.47512778639793396, 1.2109941244125366, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.29888609051704407, -1.3170443773269653, 0.9370946884155273, 1.1560616493225098, -0.7837415337562561, -1.1812390089035034, -0.0011097490787506104, 0.0011097490787506104, 0.4674982726573944, -0.80663001537323, 0.4961089491844177, -1.107614278793335, 0.47779813408851624, 1.2113755941390991, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2904936373233795, -1.3258183002471924, 0.9412909150123596, 1.1560616493225098, -0.7673380374908447, -1.1812390089035034, -0.0011097490787506104, 0.0011097490787506104, 0.4674982726573944, -0.80663001537323, 0.4961089491844177, -1.107614278793335, 0.47856107354164124, 1.2117570638656616, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28553444147109985, -1.334973692893982, 0.9473945498466492, 1.1556801795959473, -0.7616159319877625, -1.1812390089035034, -0.0031100045889616013, 0.0031100045889616013, 0.4674982726573944, -0.80663001537323, 0.4961089491844177, -1.107614278793335, 0.4804684519767761, 1.2125200033187866, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2801937758922577, -1.3433661460876465, 0.9531166553497314, 1.1549172401428223, -0.7536049485206604, -1.183146357536316, -0.01691247895359993, 0.01691247895359993, 0.4674982726573944, -0.80663001537323, 0.4964904189109802, -1.107614278793335, 0.4808499217033386, 1.2155718803405762, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2794308364391327, -1.3288700580596924, 0.9565499424934387, 1.1552987098693848, -0.7505531311035156, -1.185816764831543, -0.021246783435344696, 0.021246783435344696, 0.4674982726573944, -0.80663001537323, 0.4972533881664276, -1.107614278793335, 0.4808499217033386, 1.2155718803405762, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2946898639202118, -1.267833948135376, 0.9576943516731262, 1.1549172401428223, -0.7433050870895386, -1.1747539043426514, -0.005716470070183277, 0.005716470070183277, 0.4674982726573944, -0.805867075920105, 0.4972533881664276, -1.107614278793335, 0.4812313914299011, 1.2151904106140137, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3419928252696991, -1.193827748298645, 0.9523537158966064, 1.1526284217834473, -0.7425421476364136, -1.1511024236679077, -3.426579860388301e-05, 3.426579860388301e-05, 0.4663538634777069, -0.8039597272872925, 0.4972533881664276, -1.107614278793335, 0.4812313914299011, 1.2148088216781616, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4240100681781769, -1.1472877264022827, 0.9496833682060242, 1.192301869392395, -0.7425421476364136, -1.1499580144882202, -3.426579860388301e-05, 3.426579860388301e-05, 0.45872434973716736, -0.8024337887763977, 0.4964904189109802, -1.107614278793335, 0.47779813408851624, 1.2113755941390991, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.536926805973053, -1.1369879245758057, 0.9504463076591492, 1.335736632347107, -0.7429236173629761, -1.2300678491592407, -3.426579860388301e-05, 3.426579860388301e-05, 0.44270238280296326, -0.8016708493232727, 0.4964904189109802, -1.1079957485198975, 0.4736018776893616, 1.2071794271469116, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.1518653631210327, 0.952735185623169, 1.4543755054473877, -0.7440680265426636, -1.2922483682632446, -3.426579860388301e-05, 3.426579860388301e-05, 0.42629891633987427, -0.8009079098701477, 0.4953460097312927, -1.107614278793335, 0.47398337721824646, 1.2037460803985596, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7150759100914001, -1.177805781364441, 0.955024003982544, 1.5230411291122437, -0.7555122971534729, -1.3097963333129883, -8.418768993578851e-05, 8.418768993578851e-05, 0.4186694025993347, -0.8009079098701477, 0.49420157074928284, -1.1079957485198975, 0.47398337721824646, 1.203364610671997, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7722972631454468, -1.19916832447052, 0.9573128819465637, 1.5634775161743164, -0.7658121585845947, -1.3090333938598633, -0.009869772009551525, 0.009869772009551525, 0.41371023654937744, -0.8009079098701477, 0.49191272258758545, -1.1079957485198975, 0.47436484694480896, 1.203364610671997, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8085374236106873, -1.2094682455062866, 0.9576943516731262, 1.5924696922302246, -0.7703898549079895, -1.2899595499038696, -0.019233016297221184, 0.019233016297221184, 0.41103988885879517, -0.8009079098701477, 0.4884794354438782, -1.107614278793335, 0.47436484694480896, 1.203364610671997, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8421072959899902, -1.2144273519515991, 0.9565499424934387, 1.6023880243301392, -0.7742046117782593, -1.262493371963501, -0.02441849373281002, 0.02441849373281002, 0.40989547967910767, -0.8005264401435852, 0.4869535267353058, -1.107614278793335, 0.47474631667137146, 1.2037460803985596, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, -1.2266346216201782, 0.9557870030403137, 1.6115434169769287, -0.7776378989219666, -1.2224383354187012, -0.026801371946930885, 0.026801371946930885, 0.40951400995254517, -0.8005264401435852, 0.4858091175556183, -1.107614278793335, 0.47474631667137146, 1.203364610671997, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8894102573394775, -1.254482388496399, 0.960746169090271, 1.6157397031784058, -0.778019368648529, -1.189631462097168, -0.02764272131025791, 0.02764272131025791, 0.4091325104236603, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.47436484694480896, 1.2037460803985596, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8989471197128296, -1.2865263223648071, 0.9710460305213928, 1.6180285215377808, -0.778782308101654, -1.1655985116958618, -0.027671195566654205, 0.027671195566654205, 0.4091325104236603, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.47398337721824646, 1.2029831409454346, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9042877554893494, -1.3200961351394653, 0.9840161800384521, 1.6206988096237183, -0.7784008383750916, -1.1427099704742432, -0.027680683881044388, 0.027680683881044388, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.4732204079627991, 1.1999313831329346, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9065766334533691, -1.3456549644470215, 0.997367799282074, 1.6210802793502808, -0.778019368648529, -1.126688003540039, -0.027671195566654205, 0.027671195566654205, 0.4091325104236603, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.4697871506214142, 1.1972609758377075, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9084840416908264, -1.3624398708343506, 1.0107194185256958, 1.6210802793502808, -0.776493489742279, -1.1102845668792725, -0.027680683881044388, 0.027680683881044388, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.4686427116394043, 1.1964980363845825, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9084840416908264, -1.3738842010498047, 1.0225452184677124, 1.6214618682861328, -0.7734416723251343, -1.0976959466934204, -0.027671195566654205, 0.027671195566654205, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.4667353332042694, 1.1964980363845825, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9084840416908264, -1.3788433074951172, 1.0297932624816895, 1.6214618682861328, -0.7734416723251343, -1.0885404348373413, -0.027671195566654205, 0.027671195566654205, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.4667353332042694, 1.1964980363845825, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9050507545471191, -1.3868544101715088, 1.0355154275894165, 1.6214618682861328, -0.7726787328720093, -1.0736628770828247, -0.027671195566654205, 0.027671195566654205, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.4671168029308319, 1.1964980363845825, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -1.3967727422714233, 1.0393301248550415, 1.6218433380126953, -0.7726787328720093, -1.0614557266235352, -0.027595236897468567, 0.027595236897468567, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.4671168029308319, 1.196879506111145, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8875028491020203, -1.4070725440979004, 1.042000412940979, 1.6222248077392578, -0.7726787328720093, -1.046959638595581, -0.025744639337062836, 0.025744639337062836, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.4667353332042694, 1.196879506111145, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.881780743598938, -1.4173723459243774, 1.0450522899627686, 1.6222248077392578, -0.7722972631454468, -1.0370413064956665, -0.021615363657474518, 0.021615363657474518, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.4667353332042694, 1.198405385017395, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8768215179443359, -1.4272907972335815, 1.0488669872283936, 1.6222248077392578, -0.770771324634552, -1.0233081579208374, -0.012352408841252327, 0.012352408841252327, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.4655908942222595, 1.2006943225860596, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8737697601318359, -1.432249903678894, 1.0515373945236206, 1.6237506866455078, -0.770771324634552, -1.0164415836334229, -0.0007134653278626502, 0.0007134653278626502, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.46292057633399963, 1.201075792312622, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8726252913475037, -1.4272907972335815, 1.0523003339767456, 1.6233692169189453, -0.7711527943611145, -1.0168230533599854, -0.0008378018392249942, 0.0008378018392249942, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.46253910660743713, 1.2037460803985596, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8577477931976318, -1.404402256011963, 1.054207682609558, 1.6210802793502808, -0.7703898549079895, -1.0385671854019165, -0.0008378018392249942, 0.0008378018392249942, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.46215763688087463, 1.2045090198516846, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8226520419120789, -1.3670176267623901, 1.054207682609558, 1.6210802793502808, -0.7703898549079895, -1.0797665119171143, -0.0008378018392249942, 0.0008378018392249942, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.46177613735198975, 1.2045090198516846, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7616159319877625, -1.3242924213409424, 1.0496299266815186, 1.6149767637252808, -0.7681010365486145, -1.1366063356399536, -0.0008378018392249942, 0.0008378018392249942, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.46139466762542725, 1.2045090198516846, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6624323129653931, -1.2876707315444946, 1.0393301248550415, 1.5321965217590332, -0.7623788714408875, -1.1667429208755493, -0.0008378018392249942, 0.0008378018392249942, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.46025025844573975, 1.2045090198516846, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5445563197135925, -1.2636377811431885, 1.0179674625396729, 1.3681620359420776, -0.7608529925346375, -1.1404211521148682, -0.0008378018392249942, 0.0008378018392249942, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.46025025844573975, 1.204127550125122, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4537651538848877, -1.2476158142089844, 0.9927901029586792, 1.2342641353607178, -0.7581826448440552, -1.1057069301605225, -0.0008378018392249942, 0.0008378018392249942, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.46063172817230225, 1.2037460803985596, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.38357365131378174, -1.2384604215621948, 0.9653238654136658, 1.1511024236679077, -0.7581826448440552, -1.0950255393981934, -0.0008378018392249942, 0.0008378018392249942, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.46215763688087463, 1.200312852859497, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33169299364089966, -1.2365529537200928, 0.9424353241920471, 1.10837721824646, -0.7547493577003479, -1.0961699485778809, -0.0008416079799644649, 0.0008416079799644649, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.46215763688087463, 1.19916832447052, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2969787120819092, -1.2357900142669678, 0.9229800701141357, 1.0790035724639893, -0.7551308274269104, -1.1037994623184204, -0.0008378018392249942, 0.0008378018392249942, 0.4087510406970978, -0.8005264401435852, 0.4850461483001709, -1.107614278793335, 0.46253910660743713, 1.196879506111145, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.26760509610176086, -1.2415121793746948, 0.9111543297767639, 1.0652704238891602, -0.7539864182472229, -1.1118104457855225, -0.0008416079799644649, 0.0008416079799644649, 0.4087510406970978, -0.8005264401435852, 0.4861905872821808, -1.107614278793335, 0.46253910660743713, 1.196879506111145, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2466239482164383, -1.258297085762024, 0.9088655114173889, 1.054970622062683, -0.7532234787940979, -1.114099383354187, -0.0008378018392249942, 0.0008378018392249942, 0.4087510406970978, -0.8005264401435852, 0.4877164959907532, -1.107614278793335, 0.464446485042572, 1.196879506111145, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23327229917049408, -1.2857633829116821, 0.9172579646110535, 1.050774335861206, -0.7520790696144104, -1.114099383354187, -0.0008378018392249942, 0.0008378018392249942, 0.4087510406970978, -0.8005264401435852, 0.49191272258758545, -1.107614278793335, 0.4671168029308319, 1.196879506111145, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22564278542995453, -1.3181887865066528, 0.9317540526390076, 1.047722578048706, -0.7509346008300781, -1.1137179136276245, -0.0037212036550045013, 0.0037212036550045013, 0.4087510406970978, -0.8005264401435852, 0.4953460097312927, -1.107614278793335, 0.47398337721824646, 1.196879506111145, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22449836134910583, -1.339551329612732, 0.9428167939186096, 1.0473411083221436, -0.7482643127441406, -1.1137179136276245, -0.0155336894094944, 0.0155336894094944, 0.4087510406970978, -0.8001449704170227, 0.4991607666015625, -1.107614278793335, 0.47817960381507874, 1.196879506111145, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22373540699481964, -1.3158998489379883, 0.9390020370483398, 1.0450522899627686, -0.7310978770256042, -1.113336443901062, -0.019697343930602074, 0.019697343930602074, 0.41218432784080505, -0.7894636392593384, 0.4983977973461151, -1.107614278793335, 0.47665369510650635, 1.201075792312622, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23327229917049408, -1.2251087427139282, 0.9054322242736816, 1.044670820236206, -0.7063019871711731, -1.1152437925338745, -0.008489737287163734, 0.008489737287163734, 0.4190509021282196, -0.7543678879737854, 0.4865720570087433, -1.1079957485198975, 0.4549095928668976, 1.2094682455062866, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2748531401157379, -1.0927367210388184, 0.8356221914291382, 1.0442893505096436, -0.6876096725463867, -1.1446174383163452, -3.757924059755169e-05, 3.757924059755169e-05, 0.4236285984516144, -0.7043945789337158, 0.4686427116394043, -1.107614278793335, 0.41485464572906494, 1.2254902124404907, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3416113555431366, -0.9580758213996887, 0.7402533292770386, 1.043907880783081, -0.6685358881950378, -1.2121385335922241, -3.426579860388301e-05, 3.426579860388301e-05, 0.42782482504844666, -0.6647211313247681, 0.4510948359966278, -1.10685133934021, 0.37899595499038696, 1.2472343444824219, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41561761498451233, -0.8485923409461975, 0.6338216066360474, 1.0435264110565186, -0.6330586671829224, -1.3296329975128174, -3.426579860388301e-05, 3.426579860388301e-05, 0.4404135048389435, -0.6456473469734192, 0.4388876259326935, -1.107614278793335, 0.3606851398944855, 1.2731746435165405, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.483138769865036, -0.7829785346984863, 0.5376898050308228, 1.0488669872283936, -0.5991073250770569, -1.4681086540222168, -3.426579860388301e-05, 3.426579860388301e-05, 0.46063172817230225, -0.6399252414703369, 0.43202105164527893, -1.1072328090667725, 0.3534370958805084, 1.2914854288101196, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5861371755599976, -0.7444495558738708, 0.47741663455963135, 1.1263065338134766, -0.568970799446106, -1.6699092388153076, -3.426579860388301e-05, 3.426579860388301e-05, 0.47627222537994385, -0.6418325901031494, 0.42858776450157166, -1.1072328090667725, 0.3545815348625183, 1.3033112287521362, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6906614899635315, -0.7242313027381897, 0.44346532225608826, 1.3155183792114258, -0.5544747114181519, -1.951056718826294, -3.426579860388301e-05, 3.426579860388301e-05, 0.4835202693939209, -0.648699164390564, 0.42629891633987427, -1.107614278793335, 0.3622110188007355, 1.3101778030395508, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7509346008300781, -0.7177462577819824, 0.421339750289917, 1.440260887145996, -0.5449378490447998, -2.1501870155334473, -3.426579860388301e-05, 3.426579860388301e-05, 0.4873350262641907, -0.6589990258216858, 0.42744335532188416, -1.107614278793335, 0.36793315410614014, 1.3101778030395508, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7944228053092957, -0.7196536064147949, 0.4064621925354004, 1.514648675918579, -0.5491340756416321, -2.2772183418273926, -3.426579860388301e-05, 3.426579860388301e-05, 0.48962387442588806, -0.6662470698356628, 0.42782482504844666, -1.107614278793335, 0.36907759308815, 1.3094148635864258, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8218890428543091, -0.7257572412490845, 0.39883267879486084, 1.571869969367981, -0.5537117719650269, -2.3691539764404297, -3.426579860388301e-05, 3.426579860388301e-05, 0.49076828360557556, -0.6742580533027649, 0.42858776450157166, -1.107614278793335, 0.3732738196849823, 1.3036926984786987, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8363851308822632, -0.7433050870895386, 0.39425498247146606, 1.6252765655517578, -0.5571450591087341, -2.4458305835723877, -3.426579860388301e-05, 3.426579860388301e-05, 0.49191272258758545, -0.6818875670433044, 0.43125811219215393, -1.107614278793335, 0.3759441375732422, 1.2979705333709717, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.7654306888580322, 0.3934920132160187, 1.652742862701416, -0.5579079985618591, -2.4927520751953125, -0.0017657577991485596, 0.0017657577991485596, 0.49191272258758545, -0.6921873688697815, 0.4354543387889862, -1.107614278793335, 0.3763256371021271, 1.2933928966522217, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8607995510101318, -0.778782308101654, 0.39463645219802856, 1.6706721782684326, -0.5601968169212341, -2.5308995246887207, -0.011351393535733223, 0.011351393535733223, 0.49191272258758545, -0.7097352743148804, 0.44193941354751587, -1.107614278793335, 0.3770885765552521, 1.2865263223648071, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8688105344772339, -0.7841230034828186, 0.39539939165115356, 1.6779202222824097, -0.5601968169212341, -2.5572214126586914, -0.015486731193959713, 0.015486731193959713, 0.49191272258758545, -0.7322422862052917, 0.4491874575614929, -1.107614278793335, 0.38128480315208435, 1.280041217803955, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8707179427146912, -0.7909895181655884, 0.39692530035972595, 1.6844053268432617, -0.5601968169212341, -2.5740063190460205, -0.01700868457555771, 0.01700868457555771, 0.49305713176727295, -0.7513160705566406, 0.45757991075515747, -1.107614278793335, 0.38166627287864685, 1.274319052696228, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8730067610740662, -0.8012893795967102, 0.4003585875034332, 1.6886014938354492, -0.5525673031806946, -2.582780122756958, -0.01700868457555771, 0.01700868457555771, 0.49305713176727295, -0.7673380374908447, 0.4667353332042694, -1.107614278793335, 0.38204777240753174, 1.2659265995025635, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8726252913475037, -0.8207446336746216, 0.4091325104236603, 1.6893644332885742, -0.5407415628433228, -2.5862135887145996, -0.01700868457555771, 0.01700868457555771, 0.49343863129615784, -0.7784008383750916, 0.47550925612449646, -1.107614278793335, 0.38242924213409424, 1.2586785554885864, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, -0.8512626886367798, 0.4217212200164795, 1.6916533708572388, -0.5315861701965332, -2.5831615924835205, -0.016999056562781334, 0.016999056562781334, 0.49382010102272034, -0.7852674126625061, 0.4804684519767761, -1.107614278793335, 0.38128480315208435, 1.2525749206542969, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.8806362748146057, 0.4335469603538513, 1.6920348405838013, -0.5292973518371582, -2.5717175006866455, -0.016989432275295258, 0.016989432275295258, 0.49382010102272034, -0.7887006998062134, 0.4839017391204834, -1.107614278793335, 0.38242924213409424, 1.2491416931152344, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8604180812835693, -0.8981841802597046, 0.44079500436782837, 1.6920348405838013, -0.5262455344200134, -2.5648508071899414, -0.016989432275295258, 0.016989432275295258, 0.49382010102272034, -0.7913710474967957, 0.4854276478290558, -1.107614278793335, 0.38357365131378174, 1.2479972839355469, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8550774455070496, -0.9084840416908264, 0.44346532225608826, 1.6920348405838013, -0.5258640646934509, -2.5610361099243164, -0.016989432275295258, 0.016989432275295258, 0.49382010102272034, -0.7925154566764832, 0.4861905872821808, -1.1079957485198975, 0.38357365131378174, 1.2453268766403198, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8520256280899048, -0.9142061471939087, 0.44422826170921326, 1.6920348405838013, -0.5258640646934509, -2.556839942932129, -0.016989432275295258, 0.016989432275295258, 0.49382010102272034, -0.7940413355827332, 0.4865720570087433, -1.107614278793335, 0.38281071186065674, 1.2434195280075073, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.848210871219635, -0.918402373790741, 0.44308385252952576, 1.6920348405838013, -0.5254825949668884, -2.55378794670105, -0.016826007515192032, 0.016826007515192032, 0.49382010102272034, -0.7951858043670654, 0.4865720570087433, -1.107614278793335, 0.38242924213409424, 1.2422751188278198, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.9233615398406982, 0.44346532225608826, 1.6920348405838013, -0.5247195959091187, -2.5511176586151123, -0.015977101400494576, 0.015977101400494576, 0.49382010102272034, -0.7959487438201904, 0.4865720570087433, -1.107614278793335, 0.38090333342552185, 1.2418936491012573, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.841725766658783, -0.9294651746749878, 0.44346532225608826, 1.6920348405838013, -0.5239566564559937, -2.5495917797088623, -0.013627368956804276, 0.013627368956804276, 0.49382010102272034, -0.7959487438201904, 0.4865720570087433, -1.107614278793335, 0.38052186369895935, 1.2418936491012573, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840962827205658, -0.9397650361061096, 0.44689860939979553, 1.6920348405838013, -0.5231937170028687, -2.5461585521698, -0.013143964111804962, 0.013143964111804962, 0.49382010102272034, -0.7963302135467529, 0.4865720570087433, -1.107614278793335, 0.37975889444351196, 1.2418936491012573, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840962827205658, -0.9523537158966064, 0.4537651538848877, 1.6920348405838013, -0.5235751867294312, -2.5434882640838623, -0.01080144103616476, 0.01080144103616476, 0.49382010102272034, -0.7963302135467529, 0.4865720570087433, -1.107614278793335, 0.3774700462818146, 1.2418936491012573, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840962827205658, -0.9641794562339783, 0.46139466762542725, 1.6920348405838013, -0.5235751867294312, -2.5434882640838623, -0.01051426399499178, 0.01051426399499178, 0.49382010102272034, -0.7963302135467529, 0.4869535267353058, -1.107614278793335, 0.3767071068286896, 1.2415121793746948, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -0.9740977883338928, 0.4678797721862793, 1.6920348405838013, -0.5235751867294312, -2.5434882640838623, -0.01051426399499178, 0.01051426399499178, 0.49382010102272034, -0.7963302135467529, 0.4869535267353058, -1.107614278793335, 0.3763256371021271, 1.2407492399215698, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -0.9817273020744324, 0.4724574685096741, 1.6920348405838013, -0.5235751867294312, -2.5431067943573, -0.01051426399499178, 0.01051426399499178, 0.49382010102272034, -0.7963302135467529, 0.4869535267353058, -1.107614278793335, 0.3759441375732422, 1.2380788326263428, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840962827205658, -0.9878309369087219, 0.47665369510650635, 1.6920348405838013, -0.5239566564559937, -2.540817975997925, -0.009758716449141502, 0.009758716449141502, 0.49382010102272034, -0.7970931529998779, 0.4869535267353058, -1.107614278793335, 0.3747997283935547, 1.2373158931732178, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -0.9939345121383667, 0.4800869822502136, 1.6920348405838013, -0.5235751867294312, -2.538147449493408, -0.00697705801576376, 0.00697705801576376, 0.49382010102272034, -0.7978560924530029, 0.4869535267353058, -1.107614278793335, 0.3717479109764099, 1.2365529537200928, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840199887752533, -0.9988937377929688, 0.4846646785736084, 1.6920348405838013, -0.5239566564559937, -2.535095691680908, -0.003206778084859252, 0.003206778084859252, 0.49382010102272034, -0.7978560924530029, 0.4869535267353058, -1.107614278793335, 0.36907759308815, 1.2346456050872803, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840199887752533, -1.0023269653320312, 0.4873350262641907, 1.6920348405838013, -0.5239566564559937, -2.5316624641418457, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4869535267353058, -1.107614278793335, 0.36907759308815, 1.2346456050872803, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840199887752533, -1.0042344331741333, 0.48962387442588806, 1.6920348405838013, -0.5239566564559937, -2.5278477668762207, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4869535267353058, -1.107614278793335, 0.36907759308815, 1.2346456050872803, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8424887657165527, -1.0053788423538208, 0.49420157074928284, 1.6920348405838013, -0.5247195959091187, -2.522125482559204, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4869535267353058, -1.107614278793335, 0.368314653635025, 1.2342641353607178, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8520256280899048, -1.0019454956054688, 0.5064088106155396, 1.6920348405838013, -0.5262455344200134, -2.5072479248046875, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4873350262641907, -1.107614278793335, 0.36564430594444275, 1.2342641353607178, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8615625500679016, -0.9893568158149719, 0.5266270041465759, 1.6920348405838013, -0.533875048160553, -2.4851224422454834, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4873350262641907, -1.107614278793335, 0.36526283621788025, 1.2338826656341553, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8676661252975464, -0.9683756828308105, 0.5598153471946716, 1.6920348405838013, -0.5739299654960632, -2.4507896900177, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4873350262641907, -1.107614278793335, 0.36526283621788025, 1.2335011959075928, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8676661252975464, -0.9435797929763794, 0.5903334021568298, 1.6920348405838013, -0.6219958662986755, -2.411116123199463, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4873350262641907, -1.107614278793335, 0.36449989676475525, 1.2331197261810303, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8531700372695923, -0.9164950251579285, 0.613603413105011, 1.6916533708572388, -0.6780728101730347, -2.368772506713867, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4873350262641907, -1.107614278793335, 0.361829549074173, 1.2308309078216553, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.8947508931159973, 0.6166552305221558, 1.6794461011886597, -0.7196536064147949, -2.3218510150909424, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4873350262641907, -1.107614278793335, 0.361066609621048, 1.2308309078216553, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.776493489742279, -0.882543683052063, 0.6025406122207642, 1.6378653049468994, -0.7421606779098511, -2.2642481327056885, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4873350262641907, -1.107614278793335, 0.3587777614593506, 1.2308309078216553, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7433050870895386, -0.8772030472755432, 0.5827038884162903, 1.6031509637832642, -0.7490272521972656, -2.2234301567077637, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4869535267353058, -1.107614278793335, 0.3564889132976532, 1.2312123775482178, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7215610146522522, -0.883306622505188, 0.5670633912086487, 1.568818211555481, -0.7452124953269958, -2.1990158557891846, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4869535267353058, -1.107614278793335, 0.3534370958805084, 1.2338826656341553, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7040131092071533, -0.9039062857627869, 0.5594338774681091, 1.5444037914276123, -0.7402533292770386, -2.1822309494018555, -0.0006392992218025029, 0.0006392992218025029, 0.49382010102272034, -0.7978560924530029, 0.4869535267353058, -1.107614278793335, 0.35000380873680115, 1.2361714839935303, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.692568838596344, -0.924887478351593, 0.5601968169212341, 1.5325779914855957, -0.7364385724067688, -2.171168088912964, -0.0006466757040470839, 0.0006466757040470839, 0.4953460097312927, -0.7978560924530029, 0.4869535267353058, -1.107614278793335, 0.34962233901023865, 1.2388418912887573, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6841763854026794, -0.9378576278686523, 0.5636301040649414, 1.5203708410263062, -0.7352941036224365, -2.168116331100464, -0.006887970492243767, 0.006887970492243767, 0.4980163276195526, -0.7978560924530029, 0.4869535267353058, -1.107614278793335, 0.34962233901023865, 1.2418936491012573, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6689173579216003, -0.9313725233078003, 0.569733738899231, 1.5173189640045166, -0.7372015118598938, -2.1639199256896973, -0.017288414761424065, 0.017288414761424065, 0.4987792670726776, -0.7978560924530029, 0.4892423748970032, -1.107614278793335, 0.34771496057510376, 1.2418936491012573, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6326771974563599, -0.8813992738723755, 0.5857557058334351, 1.5119783878326416, -0.7383459210395813, -2.137979745864868, -0.021485840901732445, 0.021485840901732445, 0.50030517578125, -0.7928969264030457, 0.49343863129615784, -1.107614278793335, 0.3435187339782715, 1.2422751188278198, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5766003131866455, -0.8001449704170227, 0.6094071865081787, 1.5115967988967896, -0.7391088604927063, -2.0853359699249268, -0.009242239408195019, 0.009242239408195019, 0.501068115234375, -0.7799267768859863, 0.4961089491844177, -1.107614278793335, 0.33016708493232727, 1.2426565885543823, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.509079098701477, -0.7330052852630615, 0.6254291534423828, 1.5119783878326416, -0.7417792081832886, -2.0258259773254395, -0.00014471952454186976, 0.00014471952454186976, 0.5014495849609375, -0.7658121585845947, 0.4983977973461151, -1.107614278793335, 0.31605249643325806, 1.2460898160934448, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4560540020465851, -0.7021057605743408, 0.6322957277297974, 1.511215329170227, -0.7425421476364136, -1.9640268087387085, -6.416223186533898e-05, 6.416223186533898e-05, 0.506027340888977, -0.7539864182472229, 0.499542236328125, -1.107614278793335, 0.308041512966156, 1.2514305114746094, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3892957866191864, -0.7116426229476929, 0.6349660754203796, 1.421950101852417, -0.7475013136863708, -1.817921757698059, -6.749454769305885e-05, 6.749454769305885e-05, 0.5170900821685791, -0.7455939650535583, 0.4999237060546875, -1.107614278793335, 0.29850462079048157, 1.2579156160354614, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2641718089580536, -0.7768749594688416, 0.6364919543266296, 1.1766613721847534, -0.813878059387207, -1.5485999584197998, -6.416223186533898e-05, 6.416223186533898e-05, 0.5357823967933655, -0.7394903302192688, 0.4999237060546875, -1.107614278793335, 0.28744181990623474, 1.2644007205963135, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1493476778268814, -0.8993285894393921, 0.6464102864265442, 0.9489204287528992, -0.9237430095672607, -1.2926298379898071, -0.0008759655174799263, 0.0008759655174799263, 0.5563820600509644, -0.734912633895874, 0.4972533881664276, -1.1072328090667725, 0.2786678969860077, 1.268596887588501, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09632257372140884, -0.9962233901023865, 0.6624323129653931, 0.8329518437385559, -0.9725719094276428, -1.1560616493225098, -0.01981612853705883, 0.01981612853705883, 0.5773632526397705, -0.7310978770256042, 0.49267566204071045, -1.107614278793335, 0.266460657119751, 1.2762264013290405, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06618601083755493, -1.0812923908233643, 0.6883726119995117, 0.7646677494049072, -1.0019454956054688, -1.0675593614578247, -0.030245384201407433, 0.030245384201407433, 0.5983443856239319, -0.7295719981193542, 0.4880979657173157, -1.1072328090667725, 0.25310903787612915, 1.2853819131851196, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.056267641484737396, -1.1503394842147827, 0.7166017889976501, 0.7482643127441406, -1.029411792755127, -1.0202564001083374, -0.03243110701441765, 0.03243110701441765, 0.6177996397018433, -0.7291905283927917, 0.4850461483001709, -1.1072328090667725, 0.24052032828330994, 1.2964446544647217, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06351567804813385, -1.2060348987579346, 0.7433050870895386, 0.7562752962112427, -1.0435264110565186, -0.995078980922699, -0.033835820853710175, 0.033835820853710175, 0.6307697892189026, -0.7288090586662292, 0.4819943606853485, -1.1072328090667725, 0.2294575423002243, 1.3071259260177612, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07839322835206985, -1.2502861022949219, 0.7650492191314697, 0.763523280620575, -1.0488669872283936, -0.9740977883338928, -0.03388194739818573, 0.03388194739818573, 0.6391623020172119, -0.7288090586662292, 0.4797055125236511, -1.1072328090667725, 0.22259098291397095, 1.3200961351394653, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09060044586658478, -1.28233003616333, 0.778782308101654, 0.7742046117782593, -1.0538262128829956, -0.959983229637146, -0.0338742658495903, 0.0338742658495903, 0.6437399983406067, -0.7288090586662292, 0.47779813408851624, -1.1072328090667725, 0.21038375794887543, 1.3269627094268799, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09937438368797302, -1.3044556379318237, 0.7856488823890686, 0.7749675512313843, -1.054207682609558, -0.951209306716919, -0.03388194739818573, 0.03388194739818573, 0.6460288166999817, -0.7288090586662292, 0.47703516483306885, -1.1072328090667725, 0.1993209719657898, 1.332684874534607, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10662241280078888, -1.3197146654129028, 0.7902265787124634, 0.778019368648529, -1.051155924797058, -0.9447242021560669, -0.03388194739818573, 0.03388194739818573, 0.6475547552108765, -0.7288090586662292, 0.47512778639793396, -1.1072328090667725, 0.19130998849868774, 1.336499571800232, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11539635062217712, -1.3315403461456299, 0.7917525172233582, 0.778782308101654, -1.043907880783081, -0.9405279755592346, -0.03388194739818573, 0.03388194739818573, 0.6483176946640015, -0.7288090586662292, 0.47436484694480896, -1.1072328090667725, 0.1848248988389969, 1.336499571800232, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12722209095954895, -1.339932918548584, 0.7932783961296082, 0.7814526557922363, -1.0355154275894165, -0.9378576278686523, -0.03388194739818573, 0.03388194739818573, 0.6498435735702515, -0.7288090586662292, 0.47436484694480896, -1.1072328090667725, 0.1810101419687271, 1.3368810415267944, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13904783129692078, -1.347562313079834, 0.7951858043670654, 0.7810711860656738, -1.0225452184677124, -0.9378576278686523, -0.03388194739818573, 0.03388194739818573, 0.6498435735702515, -0.7288090586662292, 0.47436484694480896, -1.107614278793335, 0.17528800666332245, 1.338788390159607, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1493476778268814, -1.357480764389038, 0.7986190319061279, 0.7810711860656738, -1.0164415836334229, -0.9390020370483398, -0.03388194739818573, 0.03388194739818573, 0.6498435735702515, -0.7288090586662292, 0.4736018776893616, -1.1072328090667725, 0.17490653693675995, 1.339932918548584, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16155488789081573, -1.3696879148483276, 0.8077744841575623, 0.7810711860656738, -1.0053788423538208, -0.9466315507888794, -0.03388194739818573, 0.03388194739818573, 0.6498435735702515, -0.7288090586662292, 0.4736018776893616, -1.107614278793335, 0.17452506721019745, 1.339932918548584, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17986571788787842, -1.3864728212356567, 0.8222705721855164, 0.7810711860656738, -0.9985122680664062, -0.9554055333137512, -0.03388194739818573, 0.03388194739818573, 0.6498435735702515, -0.7288090586662292, 0.4736018776893616, -1.107614278793335, 0.17452506721019745, 1.339551329612732, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.200083926320076, -1.404402256011963, 0.8375295400619507, 0.778019368648529, -0.996604859828949, -0.9645609259605408, -0.03388194739818573, 0.03388194739818573, 0.6498435735702515, -0.7288090586662292, 0.4736018776893616, -1.1072328090667725, 0.17414358258247375, 1.339551329612732, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21953918039798737, -1.4215686321258545, 0.8516441583633423, 0.7738231420516968, -0.9866865277290344, -0.9729533791542053, -0.03327304124832153, 0.03327304124832153, 0.6498435735702515, -0.7288090586662292, 0.4736018776893616, -1.107614278793335, 0.17376211285591125, 1.3391698598861694, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23365376889705658, -1.4333943128585815, 0.8638513684272766, 0.7803082466125488, -0.9737163186073303, -0.9855420589447021, -0.028274985030293465, 0.028274985030293465, 0.6498435735702515, -0.7288090586662292, 0.4736018776893616, -1.107614278793335, 0.17376211285591125, 1.3353551626205444, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24128328263759613, -1.439497947692871, 0.8749141693115234, 0.7867932915687561, -0.9691386222839355, -1.0015640258789062, -0.01585409976541996, 0.01585409976541996, 0.649462103843689, -0.7288090586662292, 0.4732204079627991, -1.107614278793335, 0.17338064312934875, 1.3323034048080444, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2443350851535797, -1.4456015825271606, 0.8863584399223328, 0.7833600640296936, -0.968757152557373, -1.0183489322662354, -0.0022628617007285357, 0.0022628617007285357, 0.648699164390564, -0.7288090586662292, 0.4732204079627991, -1.1079957485198975, 0.16880293190479279, 1.3281071186065674, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23937590420246124, -1.4497978687286377, 0.8966583013534546, 0.7822155952453613, -0.968757152557373, -1.0297932624816895, -0.002791008912026882, 0.002791008912026882, 0.647173285484314, -0.7288090586662292, 0.4732204079627991, -1.1079957485198975, 0.1668955534696579, 1.3246738910675049, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21686884760856628, -1.4547569751739502, 0.9149690866470337, 0.8142595291137695, -0.968757152557373, -1.0362783670425415, -0.002791008912026882, 0.002791008912026882, 0.6467918157577515, -0.7288090586662292, 0.4732204079627991, -1.107614278793335, 0.1653696447610855, 1.3197146654129028, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17414358258247375, -1.4703974723815918, 0.9508277773857117, 0.9119172692298889, -0.9725719094276428, -1.0435264110565186, -0.002791008912026882, 0.002791008912026882, 0.6467918157577515, -0.7288090586662292, 0.4732204079627991, -1.1079957485198975, 0.15850308537483215, 1.3120851516723633, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10166323184967041, -1.5039674043655396, 1.0084306001663208, 1.024452567100525, -0.9916456937789917, -1.0473411083221436, -0.002791008912026882, 0.002791008912026882, 0.6467918157577515, -0.7288090586662292, 0.4720759987831116, -1.1079957485198975, 0.1508735716342926, 1.3052185773849487, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -1.5505073070526123, 1.0866330862045288, 1.10685133934021, -1.0275044441223145, -1.0217822790145874, -0.002791008912026882, 0.002791008912026882, 0.6467918157577515, -0.7288090586662292, 0.4709315598011017, -1.107614278793335, 0.14744029939174652, 1.3014038801193237, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07038223743438721, -1.6023880243301392, 1.1774243116378784, 1.1781872510910034, -1.0568779706954956, -0.9981307983398438, -0.002791008912026882, 0.002791008912026882, 0.6467918157577515, -0.7288090586662292, 0.4705500900745392, -1.107614278793335, 0.14324407279491425, 1.2979705333709717, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.13904783129692078, -1.6504539251327515, 1.2602044343948364, 1.2296863794326782, -1.0782406330108643, -0.9859235286712646, -0.002791008912026882, 0.002791008912026882, 0.6467918157577515, -0.7288090586662292, 0.4701686203479767, -1.107614278793335, 0.1359960287809372, 1.2975890636444092, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.19359883666038513, -1.6912717819213867, 1.3261997699737549, 1.265545129776001, -1.0873960256576538, -0.9660868048667908, -0.002791008912026882, 0.002791008912026882, 0.6456473469734192, -0.7288090586662292, 0.4697871506214142, -1.107614278793335, 0.12569619715213776, 1.2979705333709717, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22602425515651703, -1.71950101852417, 1.3673990964889526, 1.278515338897705, -1.0973143577575684, -0.9355688095092773, -0.002791008912026882, 0.002791008912026882, 0.6452658772468567, -0.7295719981193542, 0.4694056510925293, -1.107614278793335, 0.12111848592758179, 1.2998778820037842, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.24357213079929352, -1.737811803817749, 1.3925764560699463, 1.2827115058898926, -1.1045624017715454, -0.8970397710800171, -0.002791008912026882, 0.002791008912026882, 0.6448844075202942, -0.732623815536499, 0.4690241813659668, -1.107614278793335, 0.11730372905731201, 1.3071259260177612, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.25616082549095154, -1.7511634826660156, 1.41165030002594, 1.2911039590835571, -1.1053253412246704, -0.8554589152336121, -0.002791008912026882, 0.002791008912026882, 0.6448844075202942, -0.734912633895874, 0.4690241813659668, -1.107614278793335, 0.11463340371847153, 1.3139925003051758, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.26722362637519836, -1.7587929964065552, 1.424238920211792, 1.2964446544647217, -1.1072328090667725, -0.8188372850418091, -0.002791008912026882, 0.002791008912026882, 0.6448844075202942, -0.7360570430755615, 0.4690241813659668, -1.107614278793335, 0.11425192654132843, 1.3212405443191528, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.28324559330940247, -1.7629892826080322, 1.432249903678894, 1.3048371076583862, -1.1072328090667725, -0.7970931529998779, -0.002791008912026882, 0.002791008912026882, 0.6448844075202942, -0.7368200421333313, 0.4690241813659668, -1.107614278793335, 0.11387044936418533, 1.3250553607940674, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.29926756024360657, -1.7645151615142822, 1.435683250427246, 1.3101778030395508, -1.10837721824646, -0.7833600640296936, -0.002791008912026882, 0.002791008912026882, 0.6448844075202942, -0.7387273907661438, 0.4690241813659668, -1.107614278793335, 0.11043716967105865, 1.3258183002471924, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3091859221458435, -1.7622263431549072, 1.434920310974121, 1.3128480911254883, -1.11142897605896, -0.7761120200157166, -0.002791008912026882, 0.002791008912026882, 0.6448844075202942, -0.7421606779098511, 0.4690241813659668, -1.107614278793335, 0.10662241280078888, 1.3284885883331299, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.31528952717781067, -1.7542153596878052, 1.4326313734054565, 1.3258183002471924, -1.1118104457855225, -0.7696269154548645, -0.011066724546253681, 0.011066724546253681, 0.6448844075202942, -0.7444495558738708, 0.4694056510925293, -1.107614278793335, 0.10509651154279709, 1.3284885883331299, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3236820101737976, -1.729037880897522, 1.432249903678894, 1.337262511253357, -1.1327916383743286, -0.767719566822052, -0.027443015947937965, 0.027443015947937965, 0.6448844075202942, -0.7459754347801208, 0.4697871506214142, -1.107614278793335, 0.1024261862039566, 1.3284885883331299, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3370336592197418, -1.6725795269012451, 1.4368276596069336, 1.3212405443191528, -1.1270694732666016, -0.7612344622612, -0.02884361892938614, 0.02884361892938614, 0.6448844075202942, -0.7440680265426636, 0.4705500900745392, -1.1079957485198975, 0.10471503436565399, 1.3239108324050903, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.369840532541275, -1.5882734060287476, 1.437972068786621, 1.3223849534988403, -1.113336443901062, -0.761997401714325, -0.02306966856122017, 0.02306966856122017, 0.6448844075202942, -0.734912633895874, 0.4705500900745392, -1.1079957485198975, 0.10776684433221817, 1.3086519241333008, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.387006938457489, -1.4795528650283813, 1.420424222946167, 1.3151369094848633, -1.0801479816436768, -0.7742046117782593, -0.0048166257329285145, 0.0048166257329285145, 0.6437399983406067, -0.7166017889976501, 0.4686427116394043, -1.107614278793335, 0.11081864684820175, 1.2941558361053467, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.36907759308815, -1.339551329612732, 1.354810357093811, 1.3021668195724487, -1.0137712955474854, -0.8016708493232727, -3.095445572398603e-05, 3.095445572398603e-05, 0.6414511203765869, -0.689517080783844, 0.4659723937511444, -1.107614278793335, 0.10738536715507507, 1.27927827835083, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.30308231711387634, -1.1663614511489868, 1.2270160913467407, 1.2903410196304321, -0.9069581031799316, -0.84592205286026, -3.095445572398603e-05, 3.095445572398603e-05, 0.6395437717437744, -0.6483176946640015, 0.4640650153160095, -1.107614278793335, 0.10624094307422638, 1.2556267976760864, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.18749523162841797, -0.9882124066352844, 1.0767147541046143, 1.2876707315444946, -0.7806897163391113, -0.9145876169204712, -3.095445572398603e-05, 3.095445572398603e-05, 0.6391623020172119, -0.5834668278694153, 0.4484245181083679, -1.1079957485198975, 0.1039520874619484, 1.2071794271469116, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01773861236870289, -0.812352180480957, 0.9004730582237244, 1.2834744453430176, -0.6536583304405212, -0.9882124066352844, -3.095445572398603e-05, 3.095445572398603e-05, 0.6391623020172119, -0.4987792670726776, 0.40989547967910767, -1.107614278793335, 0.09021896868944168, 1.1430914402008057, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18673227727413177, -0.6353475451469421, 0.6921873688697815, 1.280041217803955, -0.4827573001384735, -1.0679408311843872, -3.095445572398603e-05, 3.095445572398603e-05, 0.6452658772468567, -0.3839551508426666, 0.33512628078460693, -1.107614278793335, 0.03643091395497322, 1.0732814073562622, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3595407009124756, -0.4800869822502136, 0.5041199326515198, 1.2804226875305176, -0.3221561014652252, -1.1633096933364868, -3.095445572398603e-05, 3.095445572398603e-05, 0.6605249047279358, -0.25310903787612915, 0.24242770671844482, -1.107614278793335, -0.03681239113211632, 1.036659836769104, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5018310546875, -0.34504464268684387, 0.3530556261539459, 1.2804226875305176, -0.22297245264053345, -1.2388418912887573, -3.095445572398603e-05, 3.095445572398603e-05, 0.6704432964324951, -0.12531471252441406, 0.15964750945568085, -1.10685133934021, -0.086785688996315, 1.0603113174438477, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6177996397018433, -0.2298390120267868, 0.24128328263759613, 1.28080415725708, -0.15735866129398346, -1.2998778820037842, -3.095445572398603e-05, 3.095445572398603e-05, 0.6853207945823669, -0.01926451548933983, 0.08602273464202881, -1.10685133934021, -0.09517814964056015, 1.1198214292526245, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.690280020236969, -0.1508735716342926, 0.17299915850162506, 1.28080415725708, -0.12111848592758179, -1.3403143882751465, -3.095445572398603e-05, 3.095445572398603e-05, 0.7131685614585876, 0.058175019919872284, 0.023079270496964455, -1.1072328090667725, -0.10852979123592377, 1.1854352951049805, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7299534678459167, -0.10433356463909149, 0.134470134973526, 1.2834744453430176, -0.09784847497940063, -1.3658732175827026, -3.095445572398603e-05, 3.095445572398603e-05, 0.7497901916503906, 0.09517814964056015, -0.01888304017484188, -1.10685133934021, -0.11272602528333664, 1.2308309078216553, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7490272521972656, -0.08258945494890213, 0.10585946589708328, 1.283092975616455, -0.07419699430465698, -1.3830395936965942, -3.095445572398603e-05, 3.095445572398603e-05, 0.7936598658561707, 0.10585946589708328, -0.0394827201962471, -1.1072328090667725, -0.11348897218704224, 1.2273975610733032, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7616159319877625, -0.0711451917886734, 0.08220797777175903, 1.283092975616455, -0.026512550190091133, -1.3975356817245483, -3.095445572398603e-05, 3.095445572398603e-05, 0.8405813574790955, 0.07724879682064056, -0.051689937710762024, -1.107614278793335, -0.1203555315732956, 1.193827748298645, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.769245445728302, -0.07038223743438721, 0.06847485899925232, 1.283092975616455, 0.0020981156267225742, -1.4078354835510254, -3.095445572398603e-05, 3.095445572398603e-05, 0.8737697601318359, 0.01506828423589468, -0.040627144277095795, -1.1072328090667725, -0.12989242374897003, 1.1617838144302368, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7734416723251343, -0.06580453366041183, 0.06389715522527695, 1.2827115058898926, 0.013160906732082367, -1.4143205881118774, -3.095445572398603e-05, 3.095445572398603e-05, 0.88979172706604, -0.05283436179161072, -0.014686808921396732, -1.107614278793335, -0.1203555315732956, 1.1404211521148682, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7742046117782593, -0.06351567804813385, 0.06313420087099075, 1.283092975616455, 0.010490577667951584, -1.4192798137664795, -3.095445572398603e-05, 3.095445572398603e-05, 0.8928435444831848, -0.09822995215654373, 0.004005493130534887, -1.107614278793335, -0.10547798871994019, 1.1320286989212036, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7803082466125488, -0.06084534898400307, 0.05893797054886818, 1.283092975616455, -0.0032425422687083483, -1.425764799118042, -3.095445572398603e-05, 3.095445572398603e-05, 0.8932250142097473, -0.1203555315732956, 0.013160906732082367, -1.107614278793335, -0.09670405089855194, 1.1293584108352661, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7925154566764832, -0.06656748056411743, 0.04406042397022247, 1.283092975616455, 0.00667582219466567, -1.418135404586792, -3.095445572398603e-05, 3.095445572398603e-05, 0.8932250142097473, -0.13179980218410492, 0.018501564860343933, -1.1079957485198975, -0.09327077120542526, 1.128213882446289, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8245593905448914, -0.07877469807863235, 0.03032730519771576, 1.283092975616455, 0.029182879254221916, -1.3910505771636963, -3.095445572398603e-05, 3.095445572398603e-05, 0.8932250142097473, -0.13866636157035828, 0.02079041674733162, -1.1079957485198975, -0.0871671661734581, 1.1232547760009766, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.08564125746488571, 0.024223696440458298, 1.283092975616455, 0.04940108209848404, -1.3838025331497192, -3.095445572398603e-05, 3.095445572398603e-05, 0.8932250142097473, -0.14324407279491425, 0.023460745811462402, -1.1079957485198975, -0.086785688996315, 1.122110366821289, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8226520419120789, -0.09021896868944168, 0.020027466118335724, 1.283092975616455, 0.05359731614589691, -1.3899061679840088, -3.095445572398603e-05, 3.095445572398603e-05, 0.8932250142097473, -0.14667734503746033, 0.024986648932099342, -1.1079957485198975, -0.08525978773832321, 1.122110366821289, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8180742859840393, -0.09060044586658478, 0.016975661739706993, 1.283092975616455, 0.05970092490315437, -1.3994430303573608, -3.095445572398603e-05, 3.095445572398603e-05, 0.8928435444831848, -0.14820325374603271, 0.026131074875593185, -1.1079957485198975, -0.08411535620689392, 1.1224918365478516, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.08945601433515549, 0.01506828423589468, 1.283092975616455, 0.06198977679014206, -1.4032578468322754, -3.095445572398603e-05, 3.095445572398603e-05, 0.8932250142097473, -0.1497291475534439, 0.026512550190091133, -1.1079957485198975, -0.08258945494890213, 1.1263065338134766, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8142595291137695, -0.08869306743144989, 0.013923857361078262, 1.2827115058898926, 0.06466010212898254, -1.406691074371338, -3.095445572398603e-05, 3.095445572398603e-05, 0.8928435444831848, -0.1497291475534439, 0.026512550190091133, -1.1079957485198975, -0.07991912961006165, 1.1285953521728516, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.0875486359000206, 0.013542382046580315, 1.283092975616455, 0.06656748056411743, -1.406691074371338, -3.095445572398603e-05, 3.095445572398603e-05, 0.8928435444831848, -0.1497291475534439, 0.026512550190091133, -1.1079957485198975, -0.07953765243291855, 1.1297398805618286, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.0875486359000206, 0.013542382046580315, 1.283092975616455, 0.06656748056411743, -1.4070725440979004, -3.095445572398603e-05, 3.095445572398603e-05, 0.8928435444831848, -0.1497291475534439, 0.026512550190091133, -1.1079957485198975, -0.07953765243291855, 1.1331731081008911, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.0875486359000206, 0.013160906732082367, 1.283092975616455, 0.06656748056411743, -1.407454013824463, -3.095445572398603e-05, 3.095445572398603e-05, 0.8928435444831848, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1335545778274536, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.0875486359000206, 0.013542382046580315, 1.283092975616455, 0.06656748056411743, -1.4101243019104004, -3.095445572398603e-05, 3.095445572398603e-05, 0.8924620151519775, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1339360475540161, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.0875486359000206, 0.013160906732082367, 1.283092975616455, 0.06656748056411743, -1.4101243019104004, -3.095445572398603e-05, 3.095445572398603e-05, 0.8924620151519775, -0.1497291475534439, 0.02689402550458908, -1.107614278793335, -0.07915617525577545, 1.1339360475540161, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.0879301130771637, 0.013160906732082367, 1.283092975616455, 0.06656748056411743, -1.4101243019104004, -3.095445572398603e-05, 3.095445572398603e-05, 0.8924620151519775, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07915617525577545, 1.1339360475540161, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8134965896606445, -0.0875486359000206, 0.013542382046580315, 1.283092975616455, 0.06504157930612564, -1.409742832183838, -3.095445572398603e-05, 3.095445572398603e-05, 0.8924620151519775, -0.1497291475534439, 0.02689402550458908, -1.107614278793335, -0.07915617525577545, 1.1343175172805786, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8154039978981018, -0.086785688996315, 0.013160906732082367, 1.283092975616455, 0.06427863240242004, -1.4093613624572754, -3.095445572398603e-05, 3.095445572398603e-05, 0.8924620151519775, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1343175172805786, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8154039978981018, -0.07801175117492676, 0.009346150793135166, 1.3235293626785278, 0.06351567804813385, -1.4509422779083252, -3.095445572398603e-05, 3.095445572398603e-05, 0.8924620151519775, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07915617525577545, 1.1358433961868286, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8146410584449768, -0.0707637146115303, 0.004005493130534887, 1.425001859664917, 0.06580453366041183, -1.5455482006072998, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1369879245758057, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.813115119934082, -0.06580453366041183, 0.0013351644156500697, 1.4646753072738647, 0.0722896158695221, -1.5844587087631226, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1369879245758057, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.06466010212898254, -0.000572213320992887, 1.482604742050171, 0.07572289556264877, -1.6016250848770142, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1369879245758057, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.06313420087099075, -0.0013351644156500697, 1.492904543876648, 0.07610437273979187, -1.6134508848190308, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1369879245758057, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.06275273114442825, -0.0013351644156500697, 1.4974822998046875, 0.07610437273979187, -1.6168841123580933, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1369879245758057, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.06160829961299896, -0.0013351644156500697, 1.50091552734375, 0.07648584991693497, -1.6203173398971558, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1369879245758057, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.06160829961299896, -0.0013351644156500697, 1.504348874092102, 0.07686731964349747, -1.6237506866455078, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1369879245758057, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8119707107543945, -0.06160829961299896, -0.0013351644156500697, 1.5047303438186646, 0.07686731964349747, -1.6264209747314453, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1369879245758057, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8100633025169373, -0.06160829961299896, -0.0013351644156500697, 1.505111813545227, 0.07763027399778366, -1.6306172609329224, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1369879245758057, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8081559538841248, -0.06160829961299896, -0.0013351644156500697, 1.505111813545227, 0.07801175117492676, -1.6317616701126099, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1366063356399536, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8073930144309998, -0.06160829961299896, -0.0013351644156500697, 1.5054932832717896, 0.07839322835206985, -1.6351948976516724, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1366063356399536, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8062485456466675, -0.06160829961299896, -0.0013351644156500697, 1.5054932832717896, 0.07839322835206985, -1.6351948976516724, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1366063356399536, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8054856061935425, -0.06160829961299896, -0.0013351644156500697, 1.5054932832717896, 0.07801175117492676, -1.6355763673782349, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.107614278793335, -0.07953765243291855, 1.1366063356399536, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.06160829961299896, -0.0013351644156500697, 1.505874752998352, 0.07801175117492676, -1.6386282444000244, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1366063356399536, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, -0.06160829961299896, -0.0013351644156500697, 1.505874752998352, 0.07801175117492676, -1.6386282444000244, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.107614278793335, -0.07953765243291855, 1.1366063356399536, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8020523190498352, -0.06160829961299896, -0.0013351644156500697, 1.505874752998352, 0.07801175117492676, -1.6393911838531494, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1366063356399536, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8001449704170227, -0.06160829961299896, -0.0013351644156500697, 1.5062562227249146, 0.07801175117492676, -1.645494818687439, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1366063356399536, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7978560924530029, -0.06160829961299896, -0.0013351644156500697, 1.507400631904602, 0.07801175117492676, -1.646257758140564, -3.095445572398603e-05, 3.095445572398603e-05, 0.890554666519165, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1369879245758057, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7970931529998779, -0.06160829961299896, -0.0013351644156500697, 1.507400631904602, 0.07801175117492676, -1.6496909856796265, -3.095445572398603e-05, 3.095445572398603e-05, 0.8848325610160828, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1427099704742432, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7967116832733154, -0.06160829961299896, -0.0013351644156500697, 1.507400631904602, 0.07763027399778366, -1.650072455406189, -3.095445572398603e-05, 3.095445572398603e-05, 0.881017804145813, -0.1497291475534439, 0.02689402550458908, -1.1079957485198975, -0.07953765243291855, 1.1491950750350952, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7959487438201904, -0.06160829961299896, -0.0013351644156500697, 1.5070191621780396, 0.07763027399778366, -1.651598334312439, -3.095445572398603e-05, 3.095445572398603e-05, 0.8787289261817932, -0.1497291475534439, 0.02689402550458908, -1.107614278793335, -0.07915617525577545, 1.1526284217834473, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, -0.06160829961299896, -0.0013351644156500697, 1.5054932832717896, 0.07763027399778366, -1.6531243324279785, -3.095445572398603e-05, 3.095445572398603e-05, 0.8779659867286682, -0.1489662081003189, 0.026131074875593185, -1.1110475063323975, -0.07915617525577545, 1.1591134071350098, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7936598658561707, -0.06160829961299896, -0.0013351644156500697, 1.5047303438186646, 0.07763027399778366, -1.653505802154541, -3.095445572398603e-05, 3.095445572398603e-05, 0.8638513684272766, -0.13904783129692078, 0.01926451548933983, -1.2136644124984741, -0.07991912961006165, 1.2682154178619385, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7928969264030457, -0.06160829961299896, -0.0013351644156500697, 1.5047303438186646, 0.07763027399778366, -1.653505802154541, -3.095445572398603e-05, 3.095445572398603e-05, 0.848210871219635, -0.12836651504039764, 0.012397955171763897, -1.3109407424926758, -0.0875486359000206, 1.3719768524169922, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7917525172233582, -0.06160829961299896, -0.0013351644156500697, 1.5047303438186646, 0.07763027399778366, -1.6538872718811035, -3.095445572398603e-05, 3.095445572398603e-05, 0.8428702354431152, -0.12264438718557358, 0.008201723918318748, -1.3536659479141235, -0.08907453715801239, 1.4150835275650024, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7913710474967957, -0.06160829961299896, -0.0013351644156500697, 1.505111813545227, 0.07763027399778366, -1.6546502113342285, -3.095445572398603e-05, 3.095445572398603e-05, 0.8405813574790955, -0.1184481605887413, 0.007057297509163618, -1.3750286102294922, -0.09365224838256836, 1.438735008239746, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7898451089859009, -0.06160829961299896, -0.0013351644156500697, 1.505111813545227, 0.07801175117492676, -1.6569390296936035, -3.095445572398603e-05, 3.095445572398603e-05, 0.839436948299408, -0.1180666834115982, 0.005912871100008488, -1.3887617588043213, -0.09365224838256836, 1.4570459127426147, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7902265787124634, -0.06160829961299896, -0.0013351644156500697, 1.505111813545227, 0.07763027399778366, -1.6569390296936035, -3.095445572398603e-05, 3.095445572398603e-05, 0.838674008846283, -0.11692225188016891, 0.005912871100008488, -1.3963912725448608, -0.09327077120542526, 1.4639123678207397, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7898451089859009, -0.06160829961299896, -0.0013351644156500697, 1.505111813545227, 0.07763027399778366, -1.6569390296936035, -3.095445572398603e-05, 3.095445572398603e-05, 0.8375295400619507, -0.11692225188016891, 0.006294346414506435, -1.3998245000839233, -0.0879301130771637, 1.4711604118347168, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7898451089859009, -0.06160829961299896, -0.0013351644156500697, 1.505111813545227, 0.07763027399778366, -1.6569390296936035, -3.095445572398603e-05, 3.095445572398603e-05, 0.8363851308822632, -0.11692225188016891, 0.007057297509163618, -1.403639316558838, -0.0875486359000206, 1.4765011072158813, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7898451089859009, -0.06160829961299896, -0.0013351644156500697, 1.505111813545227, 0.07763027399778366, -1.6569390296936035, -3.095445572398603e-05, 3.095445572398603e-05, 0.8360036611557007, -0.11692225188016891, 0.007057297509163618, -1.403639316558838, -0.0871671661734581, 1.4787899255752563, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7898451089859009, -0.06160829961299896, -0.0013351644156500697, 1.5054932832717896, 0.07763027399778366, -1.6569390296936035, -3.095445572398603e-05, 3.095445572398603e-05, 0.8360036611557007, -0.11692225188016891, 0.007438773289322853, -1.4040207862854004, -0.086785688996315, 1.481078863143921, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7898451089859009, -0.06160829961299896, -0.0013351644156500697, 1.5054932832717896, 0.07763027399778366, -1.657320499420166, -3.095445572398603e-05, 3.095445572398603e-05, 0.8360036611557007, -0.11692225188016891, 0.0078202486038208, -1.404402256011963, -0.0864042118191719, 1.481841802597046, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7898451089859009, -0.06160829961299896, -0.0013351644156500697, 1.5054932832717896, 0.07763027399778366, -1.657320499420166, -3.095445572398603e-05, 3.095445572398603e-05, 0.8360036611557007, -0.11692225188016891, 0.0078202486038208, -1.404402256011963, -0.0864042118191719, 1.481841802597046, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000013/meta.json b/rc-table30-v2__rc-dos-w1/000013/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fa92288cbc096f65bbd3285555180ed51af5d23
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000013/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Place the ball from the desk onto the small tray, and then move the small tray onto the large tray.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 11721,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000013/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000013/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..768f08d9ede3b9a738a6dfcbcec9c2e2d906d194
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000013/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000013/temporal.json b/rc-table30-v2__rc-dos-w1/000013/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b9605d69dc56593179a75c643e700e11636c894
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000013/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8169298768043518, -0.03147173300385475, -0.01926451548933983, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.8142595291137695, -0.013542382046580315, -0.046730753034353256, -1.6481651067733765, -0.12836651504039764, 1.72102689743042, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03147173300385475, -0.01926451548933983, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.8142595291137695, -0.013542382046580315, -0.046730753034353256, -1.6481651067733765, -0.12836651504039764, 1.72102689743042, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03147173300385475, -0.01926451548933983, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.8142595291137695, -0.013542382046580315, -0.046730753034353256, -1.648546576499939, -0.12798504531383514, 1.7206454277038574, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03147173300385475, -0.01926451548933983, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.8142595291137695, -0.013542382046580315, -0.04596780240535736, -1.6481651067733765, -0.12798504531383514, 1.72102689743042, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03147173300385475, -0.01926451548933983, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.8142595291137695, -0.014686808921396732, -0.04558632895350456, -1.6481651067733765, -0.12722209095954895, 1.72102689743042, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03147173300385475, -0.01926451548933983, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.8142595291137695, -0.021171892061829567, -0.032616160809993744, -1.6481651067733765, -0.11730372905731201, 1.7233158349990845, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03147173300385475, -0.01926451548933983, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.8142595291137695, -0.022697795182466507, 0.024986648932099342, -1.648546576499939, -0.10051880776882172, 1.7233158349990845, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03147173300385475, -0.01926451548933983, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.8142595291137695, -0.02384222112596035, 0.12874799966812134, -1.647020697593689, -0.013542382046580315, 1.7133973836898804, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03147173300385475, -0.01926451548933983, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.8081559538841248, -0.026512550190091133, 0.2580682039260864, -1.6458762884140015, 0.20237277448177338, 1.6969939470291138, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03147173300385475, -0.01926451548933983, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.7520790696144104, -0.030708782374858856, 0.36411839723587036, -1.6458762884140015, 0.4720759987831116, 1.6813534498214722, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8165484070777893, -0.03147173300385475, -0.01888304017484188, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.6517509818077087, -0.05207141116261482, 0.439269095659256, -1.647020697593689, 0.7146944403648376, 1.649309515953064, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8165484070777893, -0.03147173300385475, -0.01888304017484188, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.536163866519928, -0.11310750246047974, 0.49076828360557556, -1.646257758140564, 0.961509108543396, 1.58712899684906, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8165484070777893, -0.03147173300385475, -0.01888304017484188, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.39883267879486084, -0.1985580176115036, 0.5121309161186218, -1.6466392278671265, 1.1518653631210327, 1.5226596593856812, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8165484070777893, -0.03147173300385475, -0.01888304017484188, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.21114671230316162, -0.2924010157585144, 0.5151827335357666, -1.6474021673202515, 1.270504355430603, 1.4478904008865356, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8165484070777893, -0.03147173300385475, -0.01888304017484188, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.0024795911740511656, -0.3915846347808838, 0.5243381261825562, -1.650072455406189, 1.336499571800232, 1.350995659828186, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8165484070777893, -0.03147173300385475, -0.01888304017484188, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.14667734503746033, -0.49229419231414795, 0.5495155453681946, -1.650072455406189, 1.3754100799560547, 1.272793173789978, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8165484070777893, -0.03147173300385475, -0.01888304017484188, 1.5947585105895996, 0.09937438368797302, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.2466239482164383, -0.6132219433784485, 0.5819409489631653, -1.6512168645858765, 1.4002059698104858, 1.2182421684265137, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03185320645570755, -0.01888304017484188, 1.5947585105895996, 0.09899290651082993, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.32101166248321533, -0.7173647880554199, 0.6197070479393005, -1.6531243324279785, 1.4135576486587524, 1.1861982345581055, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03185320645570755, -0.01888304017484188, 1.5947585105895996, 0.09899290651082993, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.3732738196849823, -0.7967116832733154, 0.655947208404541, -1.653505802154541, 1.4040207862854004, 1.1579689979553223, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03185320645570755, -0.01888304017484188, 1.5947585105895996, 0.09899290651082993, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.4015030264854431, -0.8634698987007141, 0.6887540817260742, -1.6538872718811035, 1.3879988193511963, 1.1316472291946411, -0.0030393069609999657, 0.0030393069609999657], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03185320645570755, -0.01888304017484188, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41332876682281494, -0.918402373790741, 0.7181277275085449, -1.654268741607666, 1.3632028102874756, 1.112191915512085, -0.006509702652692795, 0.006509702652692795], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03185320645570755, -0.01888304017484188, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.4179064631462097, -0.9641794562339783, 0.7406347990036011, -1.6538872718811035, 1.334210753440857, 1.0896848440170288, -0.011066724546253681, 0.011066724546253681], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03223468363285065, -0.018501564860343933, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.4186694025993347, -1.0061417818069458, 0.7597085237503052, -1.6531243324279785, 1.3044556379318237, 1.0831998586654663, -0.013699503615498543, 0.013699503615498543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03299763426184654, -0.018501564860343933, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.4190509021282196, -1.0450522899627686, 0.7738231420516968, -1.641298532485962, 1.2769893407821655, 1.0778591632843018, -0.013699503615498543, 0.013699503615498543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03299763426184654, -0.018501564860343933, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41485464572906494, -1.0824369192123413, 0.7822155952453613, -1.6302357912063599, 1.2479972839355469, 1.0774776935577393, -0.013699503615498543, 0.013699503615498543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03337911143898964, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41371023654937744, -1.1079957485198975, 0.7852674126625061, -1.6260395050048828, 1.2205309867858887, 1.0778591632843018, -0.013699503615498543, 0.013699503615498543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03376058489084244, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41180285811424255, -1.1289769411087036, 0.7894636392593384, -1.6226062774658203, 1.1942092180252075, 1.0870145559310913, -0.013699503615498543, 0.013699503615498543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8173113465309143, -0.03376058489084244, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41180285811424255, -1.1453803777694702, 0.7921339869499207, -1.6199358701705933, 1.1743724346160889, 1.1007477045059204, -0.013699503615498543, 0.013699503615498543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03376058489084244, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41180285811424255, -1.1602579355239868, 0.7936598658561707, -1.6195544004440308, 1.1602579355239868, 1.1087586879730225, -0.013681457377970219, 0.013681457377970219], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03376058489084244, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41180285811424255, -1.1732280254364014, 0.7936598658561707, -1.6195544004440308, 1.1499580144882202, 1.115625262260437, -0.013672436587512493, 0.013672436587512493], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8173113465309143, -0.03376058489084244, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41180285811424255, -1.1812390089035034, 0.7890821695327759, -1.6195544004440308, 1.1385138034820557, 1.123636245727539, -0.013573353178799152, 0.013573353178799152], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03376058489084244, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41180285811424255, -1.185053825378418, 0.7806897163391113, -1.6195544004440308, 1.121347427368164, 1.1346989870071411, -0.011937796138226986, 0.011937796138226986], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03376058489084244, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41180285811424255, -1.187342643737793, 0.7726787328720093, -1.6195544004440308, 1.10685133934021, 1.1442358493804932, -0.010117525234818459, 0.010117525234818459], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8173113465309143, -0.03376058489084244, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41180285811424255, -1.1884870529174805, 0.7673380374908447, -1.6195544004440308, 1.0961699485778809, 1.1533913612365723, -0.0070666237734258175, 0.0070666237734258175], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.034142062067985535, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41180285811424255, -1.1884870529174805, 0.7639048099517822, -1.6176470518112183, 1.0900664329528809, 1.1659799814224243, -0.005926863290369511, 0.005926863290369511], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.034142062067985535, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41218432784080505, -1.1884870529174805, 0.760471522808075, -1.6153582334518433, 1.0866330862045288, 1.177042841911316, -0.00547801936045289, 0.00547801936045289], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.034142062067985535, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41180285811424255, -1.1884870529174805, 0.7558938264846802, -1.6157397031784058, 1.0824369192123413, 1.185816764831543, -0.005422141868621111, 0.005422141868621111], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8173113465309143, -0.034142062067985535, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41180285811424255, -1.1884870529174805, 0.7539864182472229, -1.6161211729049683, 1.0816738605499268, 1.1942092180252075, -0.0053664930164813995, 0.0053664930164813995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.034142062067985535, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6767758131027222, -0.00012783645070157945, 0.00012783645070157945, -0.41218432784080505, -1.1884870529174805, 0.7543678879737854, -1.6165026426315308, 1.0831998586654663, 1.195353627204895, -0.0053664930164813995, 0.0053664930164813995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41218432784080505, -1.1907758712768555, 0.7639048099517822, -1.6165026426315308, 1.0957884788513184, 1.1972609758377075, -0.005200917832553387, 0.005200917832553387], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8173113465309143, -0.03452353551983833, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.41256579756736755, -1.1835278272628784, 0.7864118218421936, -1.6153582334518433, 1.1381323337554932, 1.188868522644043, -0.00494743138551712, 0.00494743138551712], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.43011367321014404, -1.1659799814224243, 0.8234149813652039, -1.574540376663208, 1.19611656665802, 1.1594948768615723, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.42744335532188416, -1.1343175172805786, 0.8714808821678162, -1.4997711181640625, 1.2380788326263428, 1.1484321355819702, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8173113465309143, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.4022659659385681, -1.1007477045059204, 0.9199283123016357, -1.4726864099502563, 1.3166629076004028, 1.1453803777694702, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.34733349084854126, -1.0690852403640747, 0.9576943516731262, -1.4448386430740356, 1.354810357093811, 1.193827748298645, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.2733272314071655, -1.0465781688690186, 0.968757152557373, -1.4326313734054565, 1.4013503789901733, 1.2548638582229614, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.17910276353359222, -1.032463550567627, 0.9660868048667908, -1.4318684339523315, 1.3975356817245483, 1.346036434173584, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, -0.06961929053068161, -1.028648853302002, 0.9538795948028564, -1.4200427532196045, 1.3906691074371338, 1.4425498247146606, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6767758131027222, -0.00012783645070157945, 0.00012783645070157945, 0.016594186425209045, -1.0385671854019165, 0.9431982636451721, -1.4208056926727295, 1.3593881130218506, 1.5314335823059082, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6767758131027222, -0.00012783645070157945, 0.00012783645070157945, 0.08945601433515549, -1.0576409101486206, 0.9340428709983826, -1.4375905990600586, 1.341458797454834, 1.6065843105316162, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6767758131027222, -0.00012783645070157945, 0.00012783645070157945, 0.1493476778268814, -1.0816738605499268, 0.9218356609344482, -1.4681086540222168, 1.3311588764190674, 1.6725795269012451, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.03452353551983833, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6767758131027222, -0.00012783645070157945, 0.00012783645070157945, 0.18673227727413177, -1.104180932044983, 0.9107728600502014, -1.492141604423523, 1.3105592727661133, 1.722934365272522, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6767758131027222, -0.00012783645070157945, 0.00012783645070157945, 0.21992065012454987, -1.126688003540039, 0.9012359976768494, -1.4955748319625854, 1.3033112287521362, 1.7568856477737427, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6771572828292847, -0.00012783645070157945, 0.00012783645070157945, 0.2473868876695633, -1.1488136053085327, 0.8939879536628723, -1.506637692451477, 1.280041217803955, 1.7889295816421509, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.03452353551983833, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6775387525558472, -0.00012783645070157945, 0.00012783645070157945, 0.273708701133728, -1.176279902458191, 0.8901731967926025, -1.5077821016311646, 1.2644007205963135, 1.8068588972091675, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6790646314620972, -0.00012783645070157945, 0.00012783645070157945, 0.28820478916168213, -1.1980239152908325, 0.8848325610160828, -1.5085450410842896, 1.2514305114746094, 1.8190661668777466, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6790646314620972, -0.00012783645070157945, 0.00012783645070157945, 0.2950713336467743, -1.2098497152328491, 0.8787289261817932, -1.513885736465454, 1.2380788326263428, 1.8236438035964966, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6794461011886597, -0.00012783645070157945, 0.00012783645070157945, 0.30003052949905396, -1.2170977592468262, 0.8737697601318359, -1.5100709199905396, 1.2323567867279053, 1.824025273323059, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6790646314620972, -0.00012783645070157945, 0.00012783645070157945, 0.30117493867874146, -1.2216753959655762, 0.8688105344772339, -1.5119783878326416, 1.2251087427139282, 1.8247883319854736, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6790646314620972, -0.00012783645070157945, 0.00012783645070157945, 0.30231937766075134, -1.2235828638076782, 0.8600366115570068, -1.5119783878326416, 1.2212939262390137, 1.8255512714385986, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6790646314620972, -0.00012783645070157945, 0.00012783645070157945, 0.30422675609588623, -1.2247272729873657, 0.8497368097305298, -1.516937494277954, 1.2174792289733887, 1.8274586200714111, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6790646314620972, -0.00012783645070157945, 0.00012783645070157945, 0.3084229826927185, -1.2254902124404907, 0.8443961143493652, -1.5302891731262207, 1.2102311849594116, 1.8392843008041382, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6786831617355347, -0.00012783645070157945, 0.00012783645070157945, 0.3107118308544159, -1.2254902124404907, 0.8413442969322205, -1.5371557474136353, 1.2067978382110596, 1.8434805870056152, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6786831617355347, -0.00012783645070157945, 0.00012783645070157945, 0.3118562698364258, -1.2254902124404907, 0.840199887752533, -1.5417333841323853, 1.1942092180252075, 1.8514915704727173, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6783016920089722, -0.00012783645070157945, 0.00012783645070157945, 0.31490805745124817, -1.2254902124404907, 0.8390554785728455, -1.5444037914276123, 1.1839094161987305, 1.8591210842132568, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6779202222824097, -0.00012783645070157945, 0.00012783645070157945, 0.31528952717781067, -1.2254902124404907, 0.8382925391197205, -1.5447852611541748, 1.1751353740692139, 1.8644617795944214, -0.004787085577845573, 0.004787085577845573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.31605249643325806, -1.2254902124404907, 0.8367666006088257, -1.5463111400604248, 1.1724650859832764, 1.8675135374069214, -0.004923547618091106, 0.004923547618091106], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01773861236870289, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.31757840514183044, -1.2254902124404907, 0.8360036611557007, -1.5459296703338623, 1.1701762676239014, 1.8698023557662964, -0.004923547618091106, 0.004923547618091106], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.31795987486839294, -1.2254902124404907, 0.8333333134651184, -1.5466926097869873, 1.1732280254364014, 1.8709467649459839, -0.004995332565158606, 0.004995332565158606], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6763943433761597, -0.00012783645070157945, 0.00012783645070157945, 0.31986725330352783, -1.2254902124404907, 0.8291370868682861, -1.5463111400604248, 1.177042841911316, 1.871328353881836, -0.005025362130254507, 0.005025362130254507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6767758131027222, -0.00012783645070157945, 0.00012783645070157945, 0.3233005404472351, -1.2258716821670532, 0.8253223299980164, -1.5463111400604248, 1.177805781364441, 1.8717098236083984, -0.005158325657248497, 0.005158325657248497], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6767758131027222, -0.00012783645070157945, 0.00012783645070157945, 0.3255893886089325, -1.2254902124404907, 0.8222705721855164, -1.5447852611541748, 1.1804760694503784, 1.8747615814208984, -0.005684861447662115, 0.005684861447662115], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6771572828292847, -0.00012783645070157945, 0.00012783645070157945, 0.3271152675151825, -1.2254902124404907, 0.8207446336746216, -1.5447852611541748, 1.1804760694503784, 1.875143051147461, -0.006330507807433605, 0.006330507807433605], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6786831617355347, -0.00012783645070157945, 0.00012783645070157945, 0.3278782367706299, -1.2254902124404907, 0.8203631639480591, -1.5447852611541748, 1.1804760694503784, 1.875905990600586, -0.010077392682433128, 0.010077392682433128], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6790646314620972, -0.00012783645070157945, 0.00012783645070157945, 0.3286411762237549, -1.2163348197937012, 0.8237964510917664, -1.5447852611541748, 1.180094599723816, 1.8785762786865234, -0.011571004986763, 0.011571004986763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6790646314620972, -0.00012783645070157945, 0.00012783645070157945, 0.32673379778862, -1.185053825378418, 0.8382925391197205, -1.5447852611541748, 1.180094599723816, 1.878194808959961, -0.012500531040132046, 0.012500531040132046], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6790646314620972, -0.00012783645070157945, 0.00012783645070157945, 0.31834134459495544, -1.1392767429351807, 0.8722438216209412, -1.5455482006072998, 1.190394401550293, 1.8583581447601318, -0.013340161181986332, 0.013340161181986332], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6790646314620972, -0.00012783645070157945, 0.00012783645070157945, 0.31567102670669556, -1.0885404348373413, 0.9210727214813232, -1.5459296703338623, 1.205653429031372, 1.816014289855957, -0.011963550932705402, 0.011963550932705402], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6786831617355347, -0.00012783645070157945, 0.00012783645070157945, 0.3389410376548767, -1.057259440422058, 0.9714275002479553, -1.5497443675994873, 1.2140458822250366, 1.7637522220611572, -0.0038348007947206497, 0.0038348007947206497], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6786831617355347, -0.00012783645070157945, 0.00012783645070157945, 0.3847180902957916, -1.046959638595581, 1.0187304019927979, -1.5482184886932373, 1.1964980363845825, 1.7019531726837158, -0.00016504914674442261, 0.00016504914674442261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6786831617355347, -0.00012783645070157945, 0.00012783645070157945, 0.4346913993358612, -1.0805294513702393, 1.0774776935577393, -1.5485999584197998, 1.1839094161987305, 1.6432058811187744, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6783016920089722, -0.00012783645070157945, 0.00012783645070157945, 0.4846646785736084, -1.1648355722427368, 1.1625467538833618, -1.5474555492401123, 1.199549913406372, 1.5882734060287476, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6783016920089722, -0.00012783645070157945, 0.00012783645070157945, 0.5209048390388489, -1.274319052696228, 1.261348843574524, -1.5455482006072998, 1.2357900142669678, 1.5566109418869019, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6783016920089722, -0.00012783645070157945, 0.00012783645070157945, 0.5491340756416321, -1.4093613624572754, 1.3849469423294067, -1.5455482006072998, 1.2926298379898071, 1.5390630960464478, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6783016920089722, -0.00012783645070157945, 0.00012783645070157945, 0.5651560425758362, -1.5295262336730957, 1.4982452392578125, -1.5455482006072998, 1.3433661460876465, 1.5299077033996582, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6779202222824097, -0.00012783645070157945, 0.00012783645070157945, 0.5735484957695007, -1.6309987306594849, 1.591325283050537, -1.5459296703338623, 1.3807507753372192, 1.5260928869247437, -0.0008378018392249942, 0.0008378018392249942], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6779202222824097, -0.00012783645070157945, 0.00012783645070157945, 0.576981782913208, -1.7126344442367554, 1.6706721782684326, -1.5485999584197998, 1.4127947092056274, 1.5222781896591187, -0.010950345546007156, 0.010950345546007156], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8165484070777893, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6779202222824097, -0.00012783645070157945, 0.00012783645070157945, 0.577744722366333, -1.7816815376281738, 1.738956332206726, -1.5485999584197998, 1.4414052963256836, 1.5211337804794312, -0.018986685201525688, 0.018986685201525688], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6783016920089722, -0.00012783645070157945, 0.00012783645070157945, 0.578507661819458, -1.8339437246322632, 1.7900739908218384, -1.5485999584197998, 1.4585717916488647, 1.5180819034576416, -0.02291046269237995, 0.02291046269237995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6783016920089722, -0.00012783645070157945, 0.00012783645070157945, 0.5788891315460205, -1.8747615814208984, 1.8308918476104736, -1.5485999584197998, 1.4627679586410522, 1.5173189640045166, -0.024556729942560196, 0.024556729942560196], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09822995215654373, -1.6786831617355347, -0.00012783645070157945, 0.00012783645070157945, 0.5788891315460205, -1.9079499244689941, 1.8625543117523193, -1.5485999584197998, 1.4738308191299438, 1.5142672061920166, -0.025510119274258614, 0.025510119274258614], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03452353551983833, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6790646314620972, -0.00012783645070157945, 0.00012783645070157945, 0.5788891315460205, -1.9346532821655273, 1.888113260269165, -1.5485999584197998, 1.4738308191299438, 1.5142672061920166, -0.025510119274258614, 0.025510119274258614], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6794461011886597, -0.00012783645070157945, 0.00012783645070157945, 0.5788891315460205, -1.9544899463653564, 1.9087128639221191, -1.5482184886932373, 1.4738308191299438, 1.513885736465454, -0.025519901886582375, 0.025519901886582375], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6798275709152222, -0.00012783645070157945, 0.00012783645070157945, 0.5788891315460205, -1.970130443572998, 1.9201571941375732, -1.5482184886932373, 1.4723048210144043, 1.513122797012329, -0.026357203722000122, 0.026357203722000122], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03452353551983833, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6798275709152222, -0.00012783645070157945, 0.00012783645070157945, 0.5781261920928955, -1.97966730594635, 1.9266422986984253, -1.5482184886932373, 1.4662013053894043, 1.510452389717102, -0.026386255398392677, 0.026386255398392677], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6802090406417847, -0.00012783645070157945, 0.00012783645070157945, 0.576981782913208, -1.9853894710540771, 1.9300755262374878, -1.5482184886932373, 1.4650568962097168, 1.5100709199905396, -0.026386255398392677, 0.026386255398392677], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6802090406417847, -0.00012783645070157945, 0.00012783645070157945, 0.576218843460083, -1.9903486967086792, 1.9319828748703003, -1.5482184886932373, 1.4608606100082397, 1.5093079805374146, -0.026386255398392677, 0.026386255398392677], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6802090406417847, -0.00012783645070157945, 0.00012783645070157945, 0.5750743746757507, -1.9953078031539917, 1.9323643445968628, -1.5482184886932373, 1.4551384449005127, 1.506637692451477, -0.026386255398392677, 0.026386255398392677], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6805905103683472, -0.00012783645070157945, 0.00012783645070157945, 0.5750743746757507, -2.0025558471679688, 1.9331272840499878, -1.5478370189666748, 1.4501793384552002, 1.5070191621780396, -0.026386255398392677, 0.026386255398392677], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03452353551983833, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6805905103683472, -0.00012783645070157945, 0.00012783645070157945, 0.5746929049491882, -2.011711359024048, 1.9331272840499878, -1.5478370189666748, 1.4444571733474731, 1.5070191621780396, -0.026366889476776123, 0.026366889476776123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6809719800949097, -0.00012783645070157945, 0.00012783645070157945, 0.5750743746757507, -2.0204851627349854, 1.9338903427124023, -1.5474555492401123, 1.438735008239746, 1.5070191621780396, -0.02428012154996395, 0.02428012154996395], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6809719800949097, -0.00012783645070157945, 0.00012783645070157945, 0.5750743746757507, -2.0250630378723145, 1.9354162216186523, -1.5474555492401123, 1.4391164779663086, 1.5077821016311646, -0.02077898569405079, 0.02077898569405079], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.03452353551983833, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6828793287277222, -0.00012783645070157945, 0.00012783645070157945, 0.5750743746757507, -2.026970386505127, 1.943045735359192, -1.5474555492401123, 1.4425498247146606, 1.514648675918579, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8146410584449768, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6828793287277222, -0.00012783645070157945, 0.00012783645070157945, 0.5781261920928955, -2.021629571914673, 1.958304762840271, -1.5478370189666748, 1.4589532613754272, 1.5180819034576416, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8134965896606445, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6832607984542847, -0.00012783645070157945, 0.00012783645070157945, 0.5815594792366028, -1.9991226196289062, 1.9666972160339355, -1.5474555492401123, 1.4665827751159668, 1.518463373184204, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6836423873901367, -0.00012783645070157945, 0.00012783645070157945, 0.5834668278694153, -1.9571603536605835, 1.951819658279419, -1.5455482006072998, 1.4745937585830688, 1.514648675918579, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6847867965698242, -0.00012783645070157945, 0.00012783645070157945, 0.5857557058334351, -1.8785762786865234, 1.8804837465286255, -1.5459296703338623, 1.4780269861221313, 1.494430422782898, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6874570846557617, -0.00012783645070157945, 0.00012783645070157945, 0.5945296287536621, -1.7622263431549072, 1.7469673156738281, -1.5489814281463623, 1.4631494283676147, 1.4749752283096313, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6874570846557617, -0.00012783645070157945, 0.00012783645070157945, 0.6090257167816162, -1.6153582334518433, 1.5699626207351685, -1.5474555492401123, 1.423475980758667, 1.4574273824691772, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6874570846557617, -0.00012783645070157945, 0.00012783645070157945, 0.6258106231689453, -1.482604742050171, 1.4032578468322754, -1.5474555492401123, 1.3948653936386108, 1.4478904008865356, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6874570846557617, -0.00012783645070157945, 0.00012783645070157945, 0.647936224937439, -1.3738842010498047, 1.2609673738479614, -1.5482184886932373, 1.3761730194091797, 1.4436942338943481, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6870756149291992, -0.00012783645070157945, 0.00012783645070157945, 0.6673914790153503, -1.2968261241912842, 1.1511024236679077, -1.5447852611541748, 1.355954885482788, 1.4444571733474731, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.594377040863037, 0.09861142933368683, -1.6870756149291992, -0.00012783645070157945, 0.00012783645070157945, 0.6811245679855347, -1.259060025215149, 1.0751888751983643, -1.5493628978729248, 1.3292515277862549, 1.4604791402816772, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6870756149291992, -0.00012783645070157945, 0.00012783645070157945, 0.6956206560134888, -1.2464714050292969, 1.0313191413879395, -1.5482184886932373, 1.2960631847381592, 1.4757381677627563, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.5947585105895996, 0.09861142933368683, -1.6870756149291992, -0.00012783645070157945, 0.00012783645070157945, 0.7017242908477783, -1.2483787536621094, 1.0084306001663208, -1.5470740795135498, 1.263256311416626, 1.491378664970398, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6870756149291992, -0.00012783645070157945, 0.00012783645070157945, 0.7059205174446106, -1.2621119022369385, 0.9962233901023865, -1.5482184886932373, 1.2373158931732178, 1.505111813545227, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6870756149291992, -0.00012783645070157945, 0.00012783645070157945, 0.7082093358039856, -1.2804226875305176, 0.9874494671821594, -1.5482184886932373, 1.2205309867858887, 1.515411615371704, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.594377040863037, 0.09861142933368683, -1.6870756149291992, -0.00012783645070157945, 0.00012783645070157945, 0.7093538045883179, -1.2941558361053467, 0.9782940149307251, -1.5485999584197998, 1.19764244556427, 1.5230411291122437, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6866941452026367, -0.00012783645070157945, 0.00012783645070157945, 0.7097352743148804, -1.3044556379318237, 0.9721904397010803, -1.5482184886932373, 1.179331660270691, 1.5299077033996582, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.594377040863037, 0.09861142933368683, -1.6866941452026367, -0.00012783645070157945, 0.00012783645070157945, 0.7097352743148804, -1.3136110305786133, 0.967994213104248, -1.5482184886932373, 1.1686503887176514, 1.5302891731262207, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03452353551983833, -0.016975661739706993, 1.5947585105895996, 0.09861142933368683, -1.6866941452026367, -0.00012783645070157945, 0.00012783645070157945, 0.7097352743148804, -1.3185702562332153, 0.9668498039245605, -1.5478370189666748, 1.1598763465881348, 1.5306706428527832, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.594377040863037, 0.09861142933368683, -1.6866941452026367, -0.00012783645070157945, 0.00012783645070157945, 0.7093538045883179, -1.3216220140457153, 0.9657053351402283, -1.5478370189666748, 1.1564431190490723, 1.5306706428527832, -0.020401284098625183, 0.020401284098625183], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.3231478929519653, 0.9649423956871033, -1.5478370189666748, 1.1533913612365723, 1.5302891731262207, -0.020411215722560883, 0.020411215722560883], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.594377040863037, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.3235293626785278, 0.9649423956871033, -1.5478370189666748, 1.1514838933944702, 1.5295262336730957, -0.02059006504714489, 0.02059006504714489], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.594377040863037, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.3235293626785278, 0.9637979865074158, -1.5470740795135498, 1.1507209539413452, 1.5253299474716187, -0.020639771595597267, 0.020639771595597267], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.5947585105895996, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.3235293626785278, 0.962272047996521, -1.5455482006072998, 1.1507209539413452, 1.5199893712997437, -0.020719313994050026, 0.020719313994050026], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.594377040863037, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.3235293626785278, 0.9618905782699585, -1.5459296703338623, 1.1507209539413452, 1.516174554824829, -0.02081877738237381, 0.02081877738237381], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.594377040863037, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.3235293626785278, 0.961509108543396, -1.5459296703338623, 1.1511024236679077, 1.5135042667388916, -0.021475879475474358, 0.021475879475474358], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.5947585105895996, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.3235293626785278, 0.961509108543396, -1.5459296703338623, 1.1511024236679077, 1.5108338594436646, -0.023099511861801147, 0.023099511861801147], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.594377040863037, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.3235293626785278, 0.961509108543396, -1.5463111400604248, 1.1511024236679077, 1.5070191621780396, -0.024556729942560196, 0.024556729942560196], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.5947585105895996, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.3235293626785278, 0.961509108543396, -1.5466926097869873, 1.1511024236679077, 1.506637692451477, -0.025441603735089302, 0.025441603735089302], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.5947585105895996, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.3231478929519653, 0.961509108543396, -1.5485999584197998, 1.1511024236679077, 1.504348874092102, -0.025744639337062836, 0.025744639337062836], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.5947585105895996, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.3158998489379883, 0.961509108543396, -1.5485999584197998, 1.1511024236679077, 1.5039674043655396, -0.027309495955705643, 0.027309495955705643], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.5947585105895996, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.2903410196304321, 0.9634165167808533, -1.5485999584197998, 1.1511024236679077, 1.5039674043655396, -0.02909301407635212, 0.02909301407635212], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.5947585105895996, 0.09861142933368683, -1.6863126754760742, -0.00012783645070157945, 0.00012783645070157945, 0.7085908055305481, -1.2354085445404053, 0.9699015617370605, -1.5482184886932373, 1.1518653631210327, 1.5039674043655396, -0.03108282946050167, 0.03108282946050167], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.01735713705420494, 1.5947585105895996, 0.09861142933368683, -1.6863126754760742, -0.002756766974925995, 0.002756766974925995, 0.7089722752571106, -1.1518653631210327, 0.9786755442619324, -1.5482184886932373, 1.1533913612365723, 1.5039674043655396, -0.030847107991576195, 0.030847107991576195], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016975661739706993, 1.5947585105895996, 0.09861142933368683, -1.6863126754760742, -0.0007171970792114735, 0.0007171970792114735, 0.7101167440414429, -1.043907880783081, 0.9756237268447876, -1.5482184886932373, 1.1385138034820557, 1.5135042667388916, -0.021336417645215988, 0.021336417645215988], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.03490501269698143, -0.016212711110711098, 1.5947585105895996, 0.09822995215654373, -1.6863126754760742, -0.0001752426178427413, 0.0001752426178427413, 0.7120240926742554, -0.9222171306610107, 0.9481574892997742, -1.5455482006072998, 1.0999847650527954, 1.5375372171401978, -0.0009957212023437023, 0.0009957212023437023], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8180742859840393, -0.03223468363285065, 0.01926451548933983, 1.594377040863037, 0.06313420087099075, -1.6866941452026367, -0.0001752426178427413, 0.0001752426178427413, 0.7017242908477783, -0.8215075731277466, 0.9138246774673462, -1.5447852611541748, 1.0599298477172852, 1.5669108629226685, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.838674008846283, -0.03299763426184654, 0.11310750246047974, 1.5947585105895996, -0.048638131469488144, -1.7153048515319824, -0.0001752426178427413, 0.0001752426178427413, 0.6826505064964294, -0.7459754347801208, 0.8798733353614807, -1.5466926097869873, 1.0416189432144165, 1.596665859222412, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8436331748962402, -0.08220797777175903, 0.23975738883018494, 1.594377040863037, -0.23250934481620789, -1.8102922439575195, -0.0001752426178427413, 0.0001752426178427413, 0.656710147857666, -0.7139315009117126, 0.8569847941398621, -1.5451667308807373, 1.0481040477752686, 1.6130692958831787, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -0.2004653960466385, 0.38166627287864685, 1.594377040863037, -0.4674982726573944, -1.8842984437942505, -0.0001752426178427413, 0.0001752426178427413, 0.6235218048095703, -0.7143129706382751, 0.8432517051696777, -1.5478370189666748, 1.0797665119171143, 1.6138323545455933, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -0.37899595499038696, 0.5312047004699707, 1.5978103876113892, -0.7143129706382751, -1.9373235702514648, -0.0001752426178427413, 0.0001752426178427413, 0.5869001150131226, -0.7394903302192688, 0.8363851308822632, -1.5455482006072998, 1.120202898979187, 1.6004806756973267, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9012359976768494, -0.5971999764442444, 0.6921873688697815, 1.6317616701126099, -0.959220290184021, -1.9991226196289062, -0.0001752426178427413, 0.0001752426178427413, 0.5537117719650269, -0.776493489742279, 0.8348592519760132, -1.5485999584197998, 1.1633096933364868, 1.566147804260254, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9294651746749878, -0.80663001537323, 0.846684992313385, 1.6424429416656494, -1.1633096933364868, -2.029259204864502, -0.0001752426178427413, 0.0001752426178427413, 0.5342565178871155, -0.8192187547683716, 0.8413442969322205, -1.5482184886932373, 1.2163348197937012, 1.5249484777450562, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9313725233078003, -0.9760051965713501, 0.9775310754776001, 1.597428798675537, -1.2891966104507446, -2.0304036140441895, -0.0001752426178427413, 0.0001752426178427413, 0.5220493078231812, -0.8607995510101318, 0.8562218546867371, -1.5474555492401123, 1.2811856269836426, 1.4925230741500854, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9199283123016357, -1.104943871498108, 1.0816738605499268, 1.5447852611541748, -1.351758599281311, -2.0273518562316895, -0.0001752426178427413, 0.0001752426178427413, 0.4961089491844177, -0.8882657885551453, 0.8646143078804016, -1.5447852611541748, 1.3204776048660278, 1.4868009090423584, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, -1.199549913406372, 1.1484321355819702, 1.4925230741500854, -1.3578622341156006, -2.0273518562316895, -0.0001752426178427413, 0.0001752426178427413, 0.4545281231403351, -0.9134432077407837, 0.8653773069381714, -1.5455482006072998, 1.348706841468811, 1.5119783878326416, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8619440197944641, -1.270504355430603, 1.1835278272628784, 1.4429312944412231, -1.3471808433532715, -2.0471885204315186, -0.0001752426178427413, 0.0001752426178427413, 0.41142138838768005, -0.9317540526390076, 0.8558403849601746, -1.5455482006072998, 1.3704508543014526, 1.560044288635254, -0.00030950616928748786, 0.00030950616928748786], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8592736721038818, -1.3246738910675049, 1.202601671218872, 1.4337759017944336, -1.336499571800232, -2.095254421234131, -0.0001752426178427413, 0.0001752426178427413, 0.3770885765552521, -0.9481574892997742, 0.840199887752533, -1.5493628978729248, 1.3773174285888672, 1.6073472499847412, -0.005140114575624466, 0.005140114575624466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8745326995849609, -1.3681620359420776, 1.2201495170593262, 1.440260887145996, -1.3078888654708862, -2.144846200942993, -0.007714152801781893, 0.007714152801781893, 0.3599221706390381, -0.9737163186073303, 0.8253223299980164, -1.5482184886932373, 1.3796063661575317, 1.6355763673782349, -0.011342979967594147, 0.011342979967594147], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8882657885551453, -1.405165195465088, 1.2399863004684448, 1.4448386430740356, -1.27775239944458, -2.183375358581543, -0.012023728340864182, 0.012023728340864182, 0.35000380873680115, -0.994316041469574, 0.811589241027832, -1.5478370189666748, 1.3685435056686401, 1.648546576499939, -0.013681457377970219, 0.013681457377970219], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8939879536628723, -1.4288166761398315, 1.2506675720214844, 1.4555199146270752, -1.2621119022369385, -2.2058823108673096, -0.014327021315693855, 0.014327021315693855, 0.3442816734313965, -1.0084306001663208, 0.7997635006904602, -1.5482184886932373, 1.346036434173584, 1.659609317779541, -0.015205863863229752, 0.015205863863229752], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8981841802597046, -1.4471274614334106, 1.256008267402649, 1.4585717916488647, -1.255245327949524, -2.219233989715576, -0.014327021315693855, 0.014327021315693855, 0.3400854468345642, -1.0240710973739624, 0.7932783961296082, -1.5485999584197998, 1.3261997699737549, 1.6626611948013306, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9039062857627869, -1.4658198356628418, 1.259822964668274, 1.4627679586410522, -1.2479972839355469, -2.2268636226654053, -0.014327021315693855, 0.014327021315693855, 0.3385595381259918, -1.041237473487854, 0.7902265787124634, -1.5455482006072998, 1.3105592727661133, 1.665331482887268, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9100099205970764, -1.4829862117767334, 1.2628748416900635, 1.4707789421081543, -1.2438009977340698, -2.2375447750091553, -0.014290387742221355, 0.014290387742221355, 0.3374151289463043, -1.0568779706954956, 0.7883192300796509, -1.5459296703338623, 1.2968261241912842, 1.6649500131607056, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9142061471939087, -1.500152587890625, 1.264019250869751, 1.4745937585830688, -1.2438009977340698, -2.245555877685547, -0.013735619373619556, 0.013735619373619556, 0.3370336592197418, -1.0709925889968872, 0.7875562906265259, -1.5463111400604248, 1.28080415725708, 1.6618982553482056, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.916876494884491, -1.5115967988967896, 1.2651636600494385, 1.4776455163955688, -1.2438009977340698, -2.249370574951172, -0.013519414700567722, 0.013519414700567722, 0.33665215969085693, -1.0828183889389038, 0.7875562906265259, -1.5459296703338623, 1.267071008682251, 1.657320499420166, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.916113555431366, -1.518463373184204, 1.2674524784088135, 1.485656499862671, -1.2445639371871948, -2.252422332763672, -0.013384895399212837, 0.013384895399212837, 0.33550775051116943, -1.0927367210388184, 0.7875562906265259, -1.5466926097869873, 1.2563897371292114, 1.6496909856796265, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9134432077407837, -1.5234225988388062, 1.269741415977478, 1.489089846611023, -1.2449454069137573, -2.2535667419433594, -0.01402572263032198, 0.01402572263032198, 0.33436331152915955, -1.1022735834121704, 0.7875562906265259, -1.5463111400604248, 1.2426565885543823, 1.6458762884140015, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9115357995033264, -1.5276188850402832, 1.2739375829696655, 1.492904543876648, -1.2468528747558594, -2.2558555603027344, -0.014034820720553398, 0.014034820720553398, 0.33398184180259705, -1.1118104457855225, 0.7875562906265259, -1.5482184886932373, 1.2300678491592407, 1.642824411392212, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9092469811439514, -1.5321965217590332, 1.2773709297180176, 1.492904543876648, -1.2491416931152344, -2.2558555603027344, -0.014034820720553398, 0.014034820720553398, 0.33398184180259705, -1.120202898979187, 0.7875562906265259, -1.5485999584197998, 1.2190051078796387, 1.639009714126587, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9061951637268066, -1.5371557474136353, 1.2796597480773926, 1.4940489530563354, -1.2495231628417969, -2.2558555603027344, -0.014034820720553398, 0.014034820720553398, 0.33398184180259705, -1.1285953521728516, 0.7871748208999634, -1.5482184886932373, 1.206416368484497, 1.638246774673462, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9039062857627869, -1.5424963235855103, 1.281567096710205, 1.497100830078125, -1.2487602233886719, -2.2558555603027344, -0.014034820720553398, 0.014034820720553398, 0.33398184180259705, -1.1396582126617432, 0.7871748208999634, -1.5482184886932373, 1.1949721574783325, 1.6351948976516724, -0.017085744068026543, 0.017085744068026543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9042877554893494, -1.5497443675994873, 1.2819485664367676, 1.4967193603515625, -1.2430380582809448, -2.2558555603027344, -0.014034820720553398, 0.014034820720553398, 0.33398184180259705, -1.1503394842147827, 0.7864118218421936, -1.5478370189666748, 1.1846723556518555, 1.6309987306594849, -0.01707610674202442, 0.01707610674202442], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9042877554893494, -1.5577553510665894, 1.2819485664367676, 1.4967193603515625, -1.2369344234466553, -2.2558555603027344, -0.014034820720553398, 0.014034820720553398, 0.33398184180259705, -1.1564431190490723, 0.7848859429359436, -1.5470740795135498, 1.1717021465301514, 1.6271839141845703, -0.017056837677955627, 0.017056837677955627], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9054322242736816, -1.566147804260254, 1.2819485664367676, 1.4967193603515625, -1.2315938472747803, -2.2558555603027344, -0.014034820720553398, 0.014034820720553398, 0.33398184180259705, -1.1614023447036743, 0.7833600640296936, -1.5455482006072998, 1.1633096933364868, 1.6260395050048828, -0.016328606754541397, 0.016328606754541397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9061951637268066, -1.573395848274231, 1.28233003616333, 1.496337890625, -1.2251087427139282, -2.2558555603027344, -0.01402572263032198, 0.01402572263032198, 0.33398184180259705, -1.1659799814224243, 0.7833600640296936, -1.5459296703338623, 1.1526284217834473, 1.6241321563720703, -0.014593534171581268, 0.014593534171581268], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9061951637268066, -1.5794994831085205, 1.28233003616333, 1.496337890625, -1.2224383354187012, -2.2558555603027344, -0.014016625471413136, 0.014016625471413136, 0.33398184180259705, -1.1697947978973389, 0.7822155952453613, -1.5459296703338623, 1.1465247869491577, 1.6241321563720703, -0.013853223994374275, 0.013853223994374275], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9061951637268066, -1.58407723903656, 1.2819485664367676, 1.496337890625, -1.2212939262390137, -2.2558555603027344, -0.013411762192845345, 0.013411762192845345, 0.33398184180259705, -1.1717021465301514, 0.7784008383750916, -1.5459296703338623, 1.1438543796539307, 1.6241321563720703, -0.01199792418628931, 0.01199792418628931], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9061951637268066, -1.587891936302185, 1.28233003616333, 1.496337890625, -1.2212939262390137, -2.2558555603027344, -0.011877783574163914, 0.011877783574163914, 0.33398184180259705, -1.1728465557098389, 0.7742046117782593, -1.5459296703338623, 1.1415655612945557, 1.6245136260986328, -0.010343469679355621, 0.010343469679355621], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9065766334533691, -1.5917067527770996, 1.28233003616333, 1.495956301689148, -1.2182421684265137, -2.255474090576172, -0.010751987807452679, 0.010751987807452679, 0.33398184180259705, -1.1736094951629639, 0.7681010365486145, -1.5459296703338623, 1.1381323337554932, 1.6279468536376953, -0.010246384888887405, 0.010246384888887405], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9092469811439514, -1.5955214500427246, 1.28233003616333, 1.4955748319625854, -1.2186236381530762, -2.255474090576172, -0.009444300085306168, 0.009444300085306168, 0.33398184180259705, -1.1736094951629639, 0.761997401714325, -1.5466926097869873, 1.1358433961868286, 1.6325246095657349, -0.007843637838959694, 0.007843637838959694], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9100099205970764, -1.5997177362442017, 1.2827115058898926, 1.4925230741500854, -1.2205309867858887, -2.2611963748931885, -0.0078003741800785065, 0.0078003741800785065, 0.33398184180259705, -1.1732280254364014, 0.7581826448440552, -1.5447852611541748, 1.1343175172805786, 1.6432058811187744, -0.007121979724615812, 0.007121979724615812], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9122987985610962, -1.6035324335098267, 1.283092975616455, 1.4925230741500854, -1.2216753959655762, -2.262340784072876, -0.007757213432341814, 0.007757213432341814, 0.33398184180259705, -1.1728465557098389, 0.7558938264846802, -1.5447852611541748, 1.1324101686477661, 1.643587350845337, -0.007115050218999386, 0.007115050218999386], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9134432077407837, -1.6062028408050537, 1.28233003616333, 1.4925230741500854, -1.2220568656921387, -2.260051965713501, -0.007757213432341814, 0.007757213432341814, 0.33398184180259705, -1.1732280254364014, 0.7547493577003479, -1.5447852611541748, 1.1320286989212036, 1.6451133489608765, -0.007115050218999386, 0.007115050218999386], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9138246774673462, -1.6088731288909912, 1.2819485664367676, 1.4917601346969604, -1.2220568656921387, -2.2581446170806885, -0.007757213432341814, 0.007757213432341814, 0.33398184180259705, -1.1732280254364014, 0.7539864182472229, -1.5451667308807373, 1.1320286989212036, 1.646257758140564, -0.007115050218999386, 0.007115050218999386], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9107728600502014, -1.6088731288909912, 1.28080415725708, 1.4845120906829834, -1.2216753959655762, -2.247844696044922, -0.0078003741800785065, 0.0078003741800785065, 0.33436331152915955, -1.1732280254364014, 0.7555122971534729, -1.5455482006072998, 1.1346989870071411, 1.6481651067733765, -0.0071081239730119705, 0.0071081239730119705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9027618765830994, -1.6012436151504517, 1.278515338897705, 1.4692530632019043, -1.2178606986999512, -2.2291524410247803, -0.00780757749453187, 0.00780757749453187, 0.33474478125572205, -1.1720836162567139, 0.7642862796783447, -1.5455482006072998, 1.1533913612365723, 1.6569390296936035, -0.00697705801576376, 0.00697705801576376], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, -1.579118013381958, 1.2773709297180176, 1.4547569751739502, -1.2155718803405762, -2.219996929168701, -0.0078003741800785065, 0.0078003741800785065, 0.33588922023773193, -1.1591134071350098, 0.7818341255187988, -1.5493628978729248, 1.186579704284668, 1.6664758920669556, -0.00697705801576376, 0.00697705801576376], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.883306622505188, -1.5474555492401123, 1.281567096710205, 1.4509422779083252, -1.2266346216201782, -2.2104599475860596, -0.007764399982988834, 0.007764399982988834, 0.33665215969085693, -1.1488136053085327, 0.8073930144309998, -1.5489814281463623, 1.2151904106140137, 1.6790646314620972, -0.006887970492243767, 0.006887970492243767], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8737697601318359, -1.5249484777450562, 1.2968261241912842, 1.4417868852615356, -1.2602044343948364, -2.1959640979766846, -0.0077356696128845215, 0.0077356696128845215, 0.343137264251709, -1.1415655612945557, 0.8337147831916809, -1.5482184886932373, 1.2689783573150635, 1.6924163103103638, -0.006853834725916386, 0.006853834725916386], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8611810207366943, -1.505111813545227, 1.3067444562911987, 1.437972068786621, -1.3029297590255737, -2.174982786178589, -0.00774284778162837, 0.00774284778162837, 0.3599221706390381, -1.1377508640289307, 0.8562218546867371, -1.5432593822479248, 1.3044556379318237, 1.7084382772445679, -0.006860656198114157, 0.006860656198114157], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -1.489852786064148, 1.3101778030395508, 1.4360647201538086, -1.3231478929519653, -2.1486611366271973, -0.007750028744339943, 0.007750028744339943, 0.38319218158721924, -1.1381323337554932, 0.8794918656349182, -1.5444037914276123, 1.332684874534607, 1.7313268184661865, -0.0069290283136069775, 0.0069290283136069775], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8314259648323059, -1.4749752283096313, 1.3082703351974487, 1.4360647201538086, -1.342984676361084, -2.1131837368011475, -0.007908721454441547, 0.007908721454441547, 0.41065841913223267, -1.1472877264022827, 0.9073395729064941, -1.5459296703338623, 1.3616769313812256, 1.7557412385940552, -0.007080445531755686, 0.007080445531755686], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.805867075920105, -1.4543755054473877, 1.2953002452850342, 1.439497947692871, -1.350232720375061, -2.0700769424438477, -0.007908721454441547, 0.007908721454441547, 0.4507133662700653, -1.1717021465301514, 0.9504463076591492, -1.5489814281463623, 1.3876173496246338, 1.7881666421890259, -0.00741557264700532, 0.00741557264700532], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -1.4246203899383545, 1.2659265995025635, 1.4398794174194336, -1.357480764389038, -2.016288995742798, -0.007908721454441547, 0.007908721454441547, 0.501068115234375, -1.2087053060531616, 1.0057603120803833, -1.5493628978729248, 1.4127947092056274, 1.823262333869934, -0.007728494703769684, 0.007728494703769684], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -1.3826581239700317, 1.2220568656921387, 1.4391164779663086, -1.357480764389038, -1.949149250984192, -0.007959499023854733, 0.007959499023854733, 0.5586709380149841, -1.261730432510376, 1.0809109210968018, -1.5512703657150269, 1.425001859664917, 1.8640803098678589, -0.007901477627456188, 0.007901477627456188], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6139848828315735, -1.3311588764190674, 1.1720836162567139, 1.435683250427246, -1.3578622341156006, -1.8575952053070068, -0.007944976910948753, 0.007944976910948753, 0.6166552305221558, -1.3300144672393799, 1.1747539043426514, -1.5447852611541748, 1.4478904008865356, 1.8972686529159546, -0.008340999484062195, 0.008340999484062195], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5041199326515198, -1.2804226875305176, 1.1278324127197266, 1.4295796155929565, -1.359006643295288, -1.7561227083206177, -0.007778781000524759, 0.007778781000524759, 0.6734950542449951, -1.410887360572815, 1.2884336709976196, -1.5413519144058228, 1.4719233512878418, 1.9304569959640503, -0.008669687435030937, 0.008669687435030937], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3767071068286896, -1.2434195280075073, 1.0923552513122559, 1.426146388053894, -1.3738842010498047, -1.642824411392212, -0.007642610929906368, 0.007642610929906368, 0.726138710975647, -1.500152587890625, 1.4230945110321045, -1.5371557474136353, 1.505111813545227, 1.9560158252716064, -0.009057349525392056, 0.009057349525392056], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2607385218143463, -1.2247272729873657, 1.0709925889968872, 1.4238574504852295, -1.3990615606307983, -1.5394445657730103, -0.007628336548805237, 0.007628336548805237, 0.7742046117782593, -1.5962843894958496, 1.576066255569458, -1.5356298685073853, 1.5482184886932373, 1.972419261932373, -0.009405300952494144, 0.009405300952494144], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14515145123004913, -1.2132829427719116, 1.056496500968933, 1.423475980758667, -1.419661283493042, -1.441023826599121, -0.007507458329200745, 0.007507458329200745, 0.8146410584449768, -1.6954680681228638, 1.732471227645874, -1.5360113382339478, 1.594377040863037, 1.9800487756729126, -0.009483368135988712, 0.009483368135988712], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05130846053361893, -1.2071794271469116, 1.0473411083221436, 1.427672266960144, -1.4398794174194336, -1.361295461654663, -0.007514545693993568, 0.007514545693993568, 0.8516441583633423, -1.7935073375701904, 1.8900206089019775, -1.5371557474136353, 1.643587350845337, 1.9853894710540771, -0.009593113325536251, 0.009593113325536251], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.027656977996230125, -1.2037460803985596, 1.042000412940979, 1.434920310974121, -1.4490348100662231, -1.2895780801773071, -0.007507458329200745, 0.007507458329200745, 0.8806362748146057, -1.8865872621536255, 2.037651538848877, -1.5371557474136353, 1.6897459030151367, 1.9892042875289917, -0.009711282327771187, 0.009711282327771187], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08907453715801239, -1.2029831409454346, 1.0393301248550415, 1.4448386430740356, -1.4566643238067627, -1.2342641353607178, -0.007514545693993568, 0.007514545693993568, 0.8981841802597046, -1.97356379032135, 2.168879270553589, -1.5142672061920166, 1.7233158349990845, 1.9930189847946167, -0.009727083146572113, 0.009727083146572113], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1367589831352234, -1.203364610671997, 1.037422776222229, 1.4551384449005127, -1.4566643238067627, -1.1861982345581055, -0.007521636318415403, 0.007521636318415403, 0.9134432077407837, -2.0471885204315186, 2.27836275100708, -1.494430422782898, 1.740482211112976, 1.9945448637008667, -0.009782470762729645, 0.009782470762729645], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.17376211285591125, -1.2079423666000366, 1.034752368927002, 1.4581903219223022, -1.4562828540802002, -1.1465247869491577, -0.007528729736804962, 0.007528729736804962, 0.9225986003875732, -2.0963988304138184, 2.340543270111084, -1.4803158044815063, 1.7359044551849365, 1.9857709407806396, -0.009790394455194473, 0.009790394455194473], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1970321238040924, -1.2174792289733887, 1.032463550567627, 1.4559013843536377, -1.4532310962677002, -1.1167696714401245, -0.007592699024826288, 0.007592699024826288, 0.9279392957687378, -2.1276798248291016, 2.361905813217163, -1.4726864099502563, 1.7153048515319824, 1.9747081995010376, -0.009830049239099026, 0.009830049239099026], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.20923933386802673, -1.2319753170013428, 1.0313191413879395, 1.4570459127426147, -1.4398794174194336, -1.0908293724060059, -0.007685502525418997, 0.007685502525418997, 0.9309910535812378, -2.1444647312164307, 2.360379934310913, -1.4650568962097168, 1.6874570846557617, 1.9632638692855835, -0.009869772009551525, 0.009869772009551525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21686884760856628, -1.2495231628417969, 1.0290303230285645, 1.4547569751739502, -1.4200427532196045, -1.0648889541625977, -0.007764399982988834, 0.007764399982988834, 0.9325169920921326, -2.1623940467834473, 2.3546578884124756, -1.4616235494613647, 1.6626611948013306, 1.953345537185669, -0.00999732781201601, 0.00999732781201601], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22068360447883606, -1.270504355430603, 1.0271228551864624, 1.4509422779083252, -1.4017318487167358, -1.041237473487854, -0.007908721454441547, 0.007908721454441547, 0.9325169920921326, -2.178797483444214, 2.352750539779663, -1.4578088521957397, 1.6466392278671265, 1.9472419023513794, -0.010165768675506115, 0.010165768675506115], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22297245264053345, -1.2945373058319092, 1.025978446006775, 1.4459830522537231, -1.3765544891357422, -1.0183489322662354, -0.007959499023854733, 0.007959499023854733, 0.9294651746749878, -2.197871446609497, 2.3538949489593506, -1.4539940357208252, 1.6359578371047974, 1.9426642656326294, -0.010327261872589588, 0.010327261872589588], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22449836134910583, -1.3174258470535278, 1.02521550655365, 1.4452201128005981, -1.354047417640686, -0.995078980922699, -0.007995853200554848, 0.007995853200554848, 0.9260318875312805, -2.2173266410827637, 2.3699169158935547, -1.4475089311599731, 1.6321431398391724, 1.9407567977905273, -0.010335363447666168, 0.010335363447666168], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22487983107566833, -1.3353551626205444, 1.0255969762802124, 1.4440757036209106, -1.3193331956863403, -0.9737163186073303, -0.008112656883895397, 0.008112656883895397, 0.9229800701141357, -2.2417409420013428, 2.3970015048980713, -1.4475089311599731, 1.6275653839111328, 1.9384679794311523, -0.010343469679355621, 0.010343469679355621], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22449836134910583, -1.3521400690078735, 1.0255969762802124, 1.4436942338943481, -1.2945373058319092, -0.9569314122200012, -0.008134637959301472, 0.008134637959301472, 0.9210727214813232, -2.262340784072876, 2.4198901653289795, -1.4490348100662231, 1.6260395050048828, 1.9388494491577148, -0.010335363447666168, 0.010335363447666168], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22068360447883606, -1.3666361570358276, 1.0255969762802124, 1.4433127641677856, -1.272793173789978, -0.9374761581420898, -0.008244916796684265, 0.008244916796684265, 0.919165313243866, -2.2756924629211426, 2.433241844177246, -1.4501793384552002, 1.6195544004440308, 1.9384679794311523, -0.010327261872589588, 0.010327261872589588], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21763180196285248, -1.3754100799560547, 1.0255969762802124, 1.4440757036209106, -1.2579156160354614, -0.9340428709983826, -0.00827443040907383, 0.00827443040907383, 0.9180209040641785, -2.283703327178955, 2.441634178161621, -1.4517052173614502, 1.6069657802581787, 1.9335087537765503, -0.010319162160158157, 0.010319162160158157], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2153429538011551, -1.3803693056106567, 1.0255969762802124, 1.4444571733474731, -1.2499046325683594, -0.9382390975952148, -0.008422667160630226, 0.008422667160630226, 0.917639434337616, -2.28751802444458, 2.44621205329895, -1.4543755054473877, 1.5981918573379517, 1.9300755262374878, -0.010214107111096382, 0.010214107111096382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2145799994468689, -1.3834210634231567, 1.02521550655365, 1.4440757036209106, -1.2468528747558594, -0.9546425342559814, -0.008415229618549347, 0.008415229618549347, 0.9157320261001587, -2.2886624336242676, 2.4473564624786377, -1.4532310962677002, 1.5947585105895996, 1.9258793592453003, -0.010157721117138863, 0.010157721117138863], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2141985148191452, -1.3853284120559692, 1.024452567100525, 1.4433127641677856, -1.2430380582809448, -0.9748607873916626, -0.00837808009237051, 0.00837808009237051, 0.9145876169204712, -2.2894256114959717, 2.446974992752075, -1.4513237476348877, 1.5947585105895996, 1.9224460124969482, -0.010149676352739334, 0.010149676352739334], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.212672621011734, -1.3860913515090942, 1.0210193395614624, 1.4417868852615356, -1.2373158931732178, -0.9897382855415344, -0.008230176754295826, 0.008230176754295826, 0.9142061471939087, -2.2894256114959717, 2.444685935974121, -1.4501793384552002, 1.5947585105895996, 1.9174867868423462, -0.010157721117138863, 0.010157721117138863], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21190966665744781, -1.3860913515090942, 1.0160601139068604, 1.441023826599121, -1.2327382564544678, -0.995078980922699, -0.008163983933627605, 0.008163983933627605, 0.9138246774673462, -2.2894256114959717, 2.440871238708496, -1.4478904008865356, 1.5955214500427246, 1.9113832712173462, -0.010157721117138863, 0.010157721117138863], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21152819693088531, -1.3853284120559692, 1.0111008882522583, 1.4406423568725586, -1.2289234399795532, -0.9981307983398438, -0.008163983933627605, 0.008163983933627605, 0.9138246774673462, -2.2894256114959717, 2.4389638900756836, -1.4475089311599731, 1.5985733270645142, 1.9068055152893066, -0.010165768675506115, 0.010165768675506115], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21152819693088531, -1.3818951845169067, 1.0069047212600708, 1.435683250427246, -1.2251087427139282, -0.9985122680664062, -0.008163983933627605, 0.008163983933627605, 0.9142061471939087, -2.2894256114959717, 2.439345359802246, -1.4475089311599731, 1.6126878261566162, 1.9048981666564941, -0.010278704576194286, 0.010278704576194286], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21114671230316162, -1.3754100799560547, 1.0027084350585938, 1.4345388412475586, -1.2209124565124512, -1.0000381469726562, -0.008156643249094486, 0.008156643249094486, 0.9153505563735962, -2.289807081222534, 2.4427785873413086, -1.4482718706130981, 1.6195544004440308, 1.9033722877502441, -0.010327261872589588, 0.010327261872589588], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21076524257659912, -1.3696879148483276, 1.0008010864257812, 1.434920310974121, -1.2209124565124512, -1.0030899047851562, -0.008090701885521412, 0.008090701885521412, 0.916113555431366, -2.2909514904022217, 2.4477379322052, -1.4497978687286377, 1.6287097930908203, 1.900701880455017, -0.010343469679355621, 0.010343469679355621], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21076524257659912, -1.3651102781295776, 0.9985122680664062, 1.4360647201538086, -1.2220568656921387, -1.0057603120803833, -0.008090701885521412, 0.008090701885521412, 0.9180209040641785, -2.291332960128784, 2.4511711597442627, -1.4509422779083252, 1.6344319581985474, 1.898413062095642, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21038375794887543, -1.3601510524749756, 0.9962233901023865, 1.439497947692871, -1.2247272729873657, -1.0069047212600708, -0.008090701885521412, 0.008090701885521412, 0.9199283123016357, -2.2917144298553467, 2.4538414478302, -1.4509422779083252, 1.637483835220337, 1.892690896987915, -0.010440926998853683, 0.010440926998853683], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.212672621011734, -1.355954885482788, 0.995078980922699, 1.440260887145996, -1.2262531518936157, -1.0099564790725708, -0.008003132417798042, 0.008003132417798042, 0.9214541912078857, -2.291332960128784, 2.456130266189575, -1.4501793384552002, 1.6401541233062744, 1.8858243227005005, -0.01071084849536419, 0.01071084849536419], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21648737788200378, -1.3529030084609985, 0.9946975111961365, 1.4398794174194336, -1.2251087427139282, -1.0168230533599854, -0.007706985808908939, 0.007706985808908939, 0.9218356609344482, -2.291332960128784, 2.457656145095825, -1.4463645219802856, 1.6401541233062744, 1.8820096254348755, -0.010975242592394352, 0.010975242592394352], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21992065012454987, -1.350995659828186, 0.994316041469574, 1.439497947692871, -1.2251087427139282, -1.0183489322662354, -0.007671193219721317, 0.007671193219721317, 0.9222171306610107, -2.291332960128784, 2.457656145095825, -1.4463645219802856, 1.6393911838531494, 1.8812466859817505, -0.01108338963240385, 0.01108338963240385], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22259098291397095, -1.3506141901016235, 0.994316041469574, 1.4398794174194336, -1.2247272729873657, -1.0210193395614624, -0.007664043456315994, 0.007664043456315994, 0.9225986003875732, -2.291332960128784, 2.457656145095825, -1.4463645219802856, 1.6348134279251099, 1.878194808959961, -0.011141798458993435, 0.011141798458993435], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22411687672138214, -1.350232720375061, 0.994316041469574, 1.4398794174194336, -1.2247272729873657, -1.021400809288025, -0.007664043456315994, 0.007664043456315994, 0.9225986003875732, -2.291332960128784, 2.457656145095825, -1.4467459917068481, 1.6332875490188599, 1.877431869506836, -0.011150152422487736, 0.011150152422487736], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22487983107566833, -1.350232720375061, 0.9935530424118042, 1.439497947692871, -1.2239643335342407, -1.0217822790145874, -0.007664043456315994, 0.007664043456315994, 0.9225986003875732, -2.291332960128784, 2.457656145095825, -1.4471274614334106, 1.6329060792922974, 1.872854232788086, -0.011309351772069931, 0.011309351772069931], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22564278542995453, -1.350232720375061, 0.9916456937789917, 1.439497947692871, -1.2216753959655762, -1.0225452184677124, -0.007557133212685585, 0.007557133212685585, 0.9229800701141357, -2.2909514904022217, 2.4549858570098877, -1.4467459917068481, 1.6325246095657349, 1.8678950071334839, -0.011698449961841106, 0.011698449961841106], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22793163359165192, -1.350232720375061, 0.9901197552680969, 1.4391164779663086, -1.2212939262390137, -1.0236896276474, -0.007514545693993568, 0.007514545693993568, 0.9233615398406982, -2.2909514904022217, 2.451552629470825, -1.4463645219802856, 1.6317616701126099, 1.8629357814788818, -0.011972141452133656, 0.011972141452133656], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.230601966381073, -1.350232720375061, 0.9889753460884094, 1.438735008239746, -1.2212939262390137, -1.0236896276474, -0.007528729736804962, 0.007528729736804962, 0.9233615398406982, -2.290570020675659, 2.450026750564575, -1.4467459917068481, 1.6294728517532349, 1.8621728420257568, -0.012015124782919884, 0.012015124782919884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23327229917049408, -1.350232720375061, 0.9885938763618469, 1.438735008239746, -1.2212939262390137, -1.02216374874115, -0.007692660670727491, 0.007692660670727491, 0.9237430095672607, -2.290570020675659, 2.448500871658325, -1.4463645219802856, 1.6260395050048828, 1.8591210842132568, -0.012975362129509449, 0.012975362129509449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23556114733219147, -1.350232720375061, 0.9878309369087219, 1.4375905990600586, -1.2209124565124512, -1.0217822790145874, -0.007757213432341814, 0.007757213432341814, 0.9237430095672607, -2.290570020675659, 2.4477379322052, -1.4463645219802856, 1.6237506866455078, 1.8583581447601318, -0.014226351864635944, 0.014226351864635944], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23632410168647766, -1.350232720375061, 0.9863049983978271, 1.4383535385131836, -1.2212939262390137, -1.0210193395614624, -0.00834841001778841, 0.00834841001778841, 0.9237430095672607, -2.290570020675659, 2.4477379322052, -1.4467459917068481, 1.6233692169189453, 1.8572137355804443, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23670557141304016, -1.3498512506484985, 0.9855420589447021, 1.435683250427246, -1.2216753959655762, -1.0210193395614624, -0.010850985534489155, 0.010850985534489155, 0.9237430095672607, -2.290570020675659, 2.4477379322052, -1.4467459917068481, 1.6218433380126953, 1.8553062677383423, -0.015103267505764961, 0.015103267505764961], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23861294984817505, -1.3498512506484985, 0.9855420589447021, 1.435683250427246, -1.2216753959655762, -1.0210193395614624, -0.011166867800056934, 0.011166867800056934, 0.9237430095672607, -2.290570020675659, 2.4477379322052, -1.4471274614334106, 1.6222248077392578, 1.8549247980117798, -0.015299315564334393, 0.015299315564334393], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23899443447589874, -1.3490883111953735, 0.9855420589447021, 1.4368276596069336, -1.2212939262390137, -1.021400809288025, -0.012728339061141014, 0.012728339061141014, 0.9237430095672607, -2.290570020675659, 2.4477379322052, -1.4467459917068481, 1.6226062774658203, 1.8549247980117798, -0.01590137742459774, 0.01590137742459774], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23899443447589874, -1.347562313079834, 0.9855420589447021, 1.4414052963256836, -1.2209124565124512, -1.0217822790145874, -0.012993072159588337, 0.012993072159588337, 0.9237430095672607, -2.290570020675659, 2.4477379322052, -1.4471274614334106, 1.6264209747314453, 1.8541618585586548, -0.016989432275295258, 0.016989432275295258], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23708705604076385, -1.3456549644470215, 0.9851605892181396, 1.4528496265411377, -1.2182421684265137, -1.02216374874115, -0.01318846270442009, 0.01318846270442009, 0.9237430095672607, -2.290570020675659, 2.4477379322052, -1.4475089311599731, 1.6271839141845703, 1.8511101007461548, -0.01830955408513546, 0.01830955408513546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23556114733219147, -1.3433661460876465, 0.9851605892181396, 1.4623864889144897, -1.2178606986999512, -1.02521550655365, -0.015038089826703072, 0.015038089826703072, 0.9237430095672607, -2.2909514904022217, 2.4477379322052, -1.4475089311599731, 1.6325246095657349, 1.8476768732070923, -0.01996472105383873, 0.01996472105383873], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23517967760562897, -1.3391698598861694, 0.9851605892181396, 1.4707789421081543, -1.2174792289733887, -1.033226490020752, -0.015891918912529945, 0.015891918912529945, 0.9237430095672607, -2.2909514904022217, 2.4507896900177, -1.4478904008865356, 1.6325246095657349, 1.8472952842712402, -0.021605398505926132, 0.021605398505926132], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23517967760562897, -1.3303959369659424, 0.9851605892181396, 1.4745937585830688, -1.2167162895202637, -1.036659836769104, -0.017298080027103424, 0.017298080027103424, 0.9237430095672607, -2.2909514904022217, 2.462615489959717, -1.4509422779083252, 1.6348134279251099, 1.8461508750915527, -0.022004004567861557, 0.022004004567861557], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23517967760562897, -1.3128480911254883, 0.9851605892181396, 1.4822232723236084, -1.2148088216781616, -1.0400930643081665, -0.018996529281139374, 0.018996529281139374, 0.9237430095672607, -2.2909514904022217, 2.486266851425171, -1.4509422779083252, 1.647783637046814, 1.8430991172790527, -0.022004004567861557, 0.022004004567861557], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23517967760562897, -1.2899595499038696, 0.9851605892181396, 1.4822232723236084, -1.2148088216781616, -1.044670820236206, -0.021246783435344696, 0.021246783435344696, 0.9233615398406982, -2.2909514904022217, 2.525940418243408, -1.4551384449005127, 1.6718165874481201, 1.8400473594665527, -0.022004004567861557, 0.022004004567861557], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2298390120267868, -1.2609673738479614, 0.9840161800384521, 1.485656499862671, -1.2151904106140137, -1.0618371963500977, -0.02298012375831604, 0.02298012375831604, 0.9229800701141357, -2.285229206085205, 2.5663766860961914, -1.4700160026550293, 1.7034790515899658, 1.8331807851791382, -0.022004004567861557, 0.022004004567861557], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21992065012454987, -1.2266346216201782, 0.9794384837150574, 1.485656499862671, -1.2151904106140137, -1.0828183889389038, -0.021187031641602516, 0.021187031641602516, 0.9222171306610107, -2.259289026260376, 2.589646816253662, -1.481841802597046, 1.7221713066101074, 1.8274586200714111, -0.021984074264764786, 0.021984074264764786], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.20428015291690826, -1.189631462097168, 0.9691386222839355, 1.485656499862671, -1.2155718803405762, -1.1022735834121704, -0.015038089826703072, 0.015038089826703072, 0.9222171306610107, -2.2268636226654053, 2.5915541648864746, -1.4894713163375854, 1.735522985458374, 1.8247883319854736, -0.019885456189513206, 0.019885456189513206], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1848248988389969, -1.1522468328475952, 0.951972246170044, 1.4852750301361084, -1.2170977592468262, -1.1224918365478516, -0.010125558823347092, 0.010125558823347092, 0.9222171306610107, -2.181849479675293, 2.5663766860961914, -1.4982452392578125, 1.7393378019332886, 1.8221179246902466, -0.01891779899597168, 0.01891779899597168], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.16308079659938812, -1.1110475063323975, 0.9290837049484253, 1.4852750301361084, -1.2174792289733887, -1.1346989870071411, -0.0010859977919608355, 0.0010859977919608355, 0.9260318875312805, -2.1124207973480225, 2.490081548690796, -1.5409704446792603, 1.7462043762207031, 1.808003306388855, -0.013998438604176044, 0.013998438604176044], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.14133669435977936, -1.0687037706375122, 0.9046692848205566, 1.4852750301361084, -1.2178606986999512, -1.1499580144882202, -0.00016165558190550655, 0.00016165558190550655, 0.9283207654953003, -2.028496265411377, 2.374113082885742, -1.5909438133239746, 1.7465858459472656, 1.7828259468078613, -0.0008759655174799263, 0.0008759655174799263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12264438718557358, -1.0271228551864624, 0.884069561958313, 1.485656499862671, -1.2170977592468262, -1.176279902458191, -0.00016165558190550655, 0.00016165558190550655, 0.9199283123016357, -1.9155794382095337, 2.214656352996826, -1.6229877471923828, 1.7271305322647095, 1.7648966312408447, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09479667246341705, -0.9786755442619324, 0.8646143078804016, 1.4852750301361084, -1.2151904106140137, -1.2022202014923096, -0.00016165558190550655, 0.00016165558190550655, 0.9050507545471191, -1.7847332954406738, 2.0166704654693604, -1.642824411392212, 1.663805603981018, 1.7561227083206177, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05207141116261482, -0.9164950251579285, 0.8344777822494507, 1.484893560409546, -1.2083238363265991, -1.2304493188858032, -0.00016165558190550655, 0.00016165558190550655, 0.883306622505188, -1.6275653839111328, 1.7904554605484009, -1.6519798040390015, 1.574540376663208, 1.7401007413864136, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.008964675478637218, -0.8325703740119934, 0.776493489742279, 1.4780269861221313, -1.1659799814224243, -1.271267294883728, -0.00016165558190550655, 0.00016165558190550655, 0.8554589152336121, -1.4673457145690918, 1.561570167541504, -1.658846378326416, 1.4673457145690918, 1.7256046533584595, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09555962681770325, -0.7410162687301636, 0.6986724734306335, 1.4589532613754272, -1.0828183889389038, -1.3178073167800903, -0.00016165558190550655, 0.00016165558190550655, 0.8257037997245789, -1.2781338691711426, 1.3166629076004028, -1.665331482887268, 1.3338292837142944, 1.7122529745101929, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20885786414146423, -0.6570916175842285, 0.6162737607955933, 1.4505608081817627, -0.9843976497650146, -1.3784618377685547, -0.00016165558190550655, 0.00016165558190550655, 0.811589241027832, -1.0854886770248413, 1.1079957485198975, -1.6649500131607056, 1.2132829427719116, 1.7008087635040283, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34733349084854126, -0.5849927663803101, 0.5449378490447998, 1.4429312944412231, -0.8691920638084412, -1.4448386430740356, -0.00016165558190550655, 0.00016165558190550655, 0.802815318107605, -0.8981841802597046, 0.926413357257843, -1.665331482887268, 1.11295485496521, 1.6969939470291138, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5094605684280396, -0.5220493078231812, 0.47436484694480896, 1.4391164779663086, -0.728427529335022, -1.49786376953125, -0.00016165558190550655, 0.00016165558190550655, 0.8001449704170227, -0.7135500311851501, 0.7661936283111572, -1.665331482887268, 1.0194933414459229, 1.6939421892166138, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6406881809234619, -0.47474631667137146, 0.40951400995254517, 1.4360647201538086, -0.5895704627037048, -1.5417333841323853, -0.00016165558190550655, 0.00016165558190550655, 0.7982375621795654, -0.5392156839370728, 0.6338216066360474, -1.667620301246643, 0.924124538898468, 1.6992828845977783, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7497901916503906, -0.4194323718547821, 0.33588922023773193, 1.435683250427246, -0.44537270069122314, -1.5867475271224976, -0.00016165558190550655, 0.00016165558190550655, 0.7978560924530029, -0.3892957866191864, 0.5235751867294312, -1.666094422340393, 0.8375295400619507, 1.7095826864242554, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.3557259440422058, 0.2759975492954254, 1.435683250427246, -0.325970858335495, -1.6145952939987183, -0.00016504914674442261, 0.00016504914674442261, 0.7970931529998779, -0.2645532786846161, 0.43125811219215393, -1.6664758920669556, 0.7608529925346375, 1.7130159139633179, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8737697601318359, -0.28553444147109985, 0.22755016386508942, 1.435683250427246, -0.230601966381073, -1.6309987306594849, -0.00016165558190550655, 0.00016165558190550655, 0.80357825756073, -0.16422522068023682, 0.361829549074173, -1.6672388315200806, 0.6853207945823669, 1.7126344442367554, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.21725031733512878, 0.19398032128810883, 1.435683250427246, -0.17528800666332245, -1.640535593032837, -0.00016165558190550655, 0.00016165558190550655, 0.8272297382354736, -0.0883115902543068, 0.30422675609588623, -1.666857361793518, 0.6029220819473267, 1.6962310075759888, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.953498125076294, -0.15506981313228607, 0.17338064312934875, 1.435683250427246, -0.12493324279785156, -1.642061471939087, -0.00016165558190550655, 0.00016165558190550655, 0.8493552803993225, -0.031090257689356804, 0.2508201599121094, -1.6672388315200806, 0.49038681387901306, 1.6775387525558472, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9657053351402283, -0.10967422276735306, 0.15583276748657227, 1.435683250427246, -0.07953765243291855, -1.6268024444580078, -0.00016165558190550655, 0.00016165558190550655, 0.8611810207366943, -0.0013351644156500697, 0.1970321238040924, -1.667620301246643, 0.3606851398944855, 1.667620301246643, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.961509108543396, -0.08602273464202881, 0.1371404528617859, 1.435683250427246, -0.048256658017635345, -1.6176470518112183, -0.00016504914674442261, 0.00016504914674442261, 0.8676661252975464, 0.01430533267557621, 0.14324407279491425, -1.667620301246643, 0.2309834510087967, 1.6683833599090576, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9554055333137512, -0.0711451917886734, 0.11692225188016891, 1.435683250427246, 0.000572213320992887, -1.6107804775238037, -0.00016165558190550655, 0.00016165558190550655, 0.8699550032615662, 0.021553369238972664, 0.09327077120542526, -1.6683833599090576, 0.12455176562070847, 1.6821163892745972, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9439612627029419, -0.06580453366041183, 0.09594109654426575, 1.435683250427246, 0.037193864583969116, -1.6073472499847412, -0.00016504914674442261, 0.00016504914674442261, 0.8695735335350037, 0.023079270496964455, 0.0558861680328846, -1.6680018901824951, 0.05703059583902359, 1.6912717819213867, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9279392957687378, -0.061226826161146164, 0.07953765243291855, 1.435683250427246, 0.06313420087099075, -1.6042953729629517, -0.00016165558190550655, 0.00016165558190550655, 0.8566033244132996, 0.02231631986796856, 0.024223696440458298, -1.6683833599090576, 0.004386968910694122, 1.7061493396759033, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9081025123596191, -0.05970092490315437, 0.06733043491840363, 1.4360647201538086, 0.07610437273979187, -1.6039139032363892, -0.00016504914674442261, 0.00016504914674442261, 0.8485923409461975, 0.016212711110711098, 0.0024795911740511656, -1.6680018901824951, -0.029564354568719864, 1.71950101852417, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.883306622505188, -0.05855649709701538, 0.05397878959774971, 1.435683250427246, 0.08297093212604523, -1.6035324335098267, -0.00016165558190550655, 0.00016165558190550655, 0.8436331748962402, 0.00667582219466567, -0.010109102353453636, -1.667620301246643, -0.05436026677489281, 1.7286564111709595, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8672846555709839, -0.058175019919872284, 0.045204851776361465, 1.4360647201538086, 0.08602273464202881, -1.6016250848770142, -0.00016504914674442261, 0.00016504914674442261, 0.840962827205658, -0.00019073777366429567, -0.01773861236870289, -1.666857361793518, -0.0711451917886734, 1.7320897579193115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8577477931976318, -0.05092698708176613, 0.04177157208323479, 1.4360647201538086, 0.0883115902543068, -1.6008621454238892, -0.00016165558190550655, 0.00016165558190550655, 0.8398184180259705, -0.004386968910694122, -0.023460745811462402, -1.666094422340393, -0.07991912961006165, 1.736285924911499, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8432517051696777, -0.042153049260377884, 0.040627144277095795, 1.435683250427246, 0.09021896868944168, -1.6012436151504517, -0.00016504914674442261, 0.00016504914674442261, 0.839436948299408, -0.00667582219466567, -0.02689402550458908, -1.666094422340393, -0.0875486359000206, 1.739719271659851, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8184558153152466, -0.03376058489084244, 0.040627144277095795, 1.4360647201538086, 0.07381551712751389, -1.6012436151504517, -0.00016504914674442261, 0.00016504914674442261, 0.839436948299408, -0.008201723918318748, -0.029564354568719864, -1.666094422340393, -0.0883115902543068, 1.7401007413864136, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7967116832733154, -0.028038453310728073, 0.040245670825242996, 1.4360647201538086, 0.04482337832450867, -1.6012436151504517, -0.00016165558190550655, 0.00016165558190550655, 0.839436948299408, -0.010872052982449532, -0.03185320645570755, -1.666094422340393, -0.09479667246341705, 1.740482211112976, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7856488823890686, -0.02689402550458908, 0.03376058489084244, 1.4360647201538086, 0.02994582988321781, -1.6012436151504517, -0.00016165558190550655, 0.00016165558190550655, 0.839436948299408, -0.01583123579621315, -0.03452353551983833, -1.666094422340393, -0.10128175467252731, 1.740482211112976, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7818341255187988, -0.025749599561095238, 0.021553369238972664, 1.4360647201538086, 0.03452353551983833, -1.5993362665176392, -0.00016165558190550655, 0.00016165558190550655, 0.839436948299408, -0.018501564860343933, -0.03604944050312042, -1.666094422340393, -0.1031891331076622, 1.7401007413864136, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.03490501269698143, 0.008964675478637218, 1.436446189880371, 0.04558632895350456, -1.5684367418289185, -0.00016165558190550655, 0.00016165558190550655, 0.839436948299408, -0.02079041674733162, -0.03643091395497322, -1.6664758920669556, -0.10852979123592377, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -0.042153049260377884, 0.0032425422687083483, 1.436446189880371, 0.06008239835500717, -1.5272372961044312, -0.00016504914674442261, 0.00016504914674442261, 0.8451590538024902, -0.024223696440458298, -0.03643091395497322, -1.6683833599090576, -0.11005569249391556, 1.7141603231430054, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.046730753034353256, -0.000572213320992887, 1.4368276596069336, 0.06542305648326874, -1.5093079805374146, -0.00016504914674442261, 0.00016504914674442261, 0.8558403849601746, -0.030708782374858856, -0.03490501269698143, -1.6683833599090576, -0.11043716967105865, 1.6958495378494263, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8398184180259705, -0.048638131469488144, -0.001716639962978661, 1.4368276596069336, 0.06961929053068161, -1.506637692451477, -0.00016165558190550655, 0.00016165558190550655, 0.8623254895210266, -0.04177157208323479, -0.03032730519771576, -1.6680018901824951, -0.11120012402534485, 1.6844053268432617, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8352407217025757, -0.049782559275627136, -0.0024795911740511656, 1.436446189880371, 0.07267109304666519, -1.507400631904602, -0.00016504914674442261, 0.00016504914674442261, 0.8649957776069641, -0.04901960864663124, -0.02727550081908703, -1.667620301246643, -0.11043716967105865, 1.6760128736495972, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8333333134651184, -0.05054550990462303, -0.0032425422687083483, 1.436446189880371, 0.07343403995037079, -1.5108338594436646, -0.00016504914674442261, 0.00016504914674442261, 0.8680475950241089, -0.05283436179161072, -0.02536812424659729, -1.6680018901824951, -0.11043716967105865, 1.6714351177215576, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8314259648323059, -0.05054550990462303, -0.0032425422687083483, 1.4368276596069336, 0.07495994865894318, -1.5115967988967896, -0.00016165558190550655, 0.00016165558190550655, 0.8680475950241089, -0.0551232174038887, -0.024986648932099342, -1.667620301246643, -0.11005569249391556, 1.6718165874481201, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8302815556526184, -0.05054550990462303, -0.0032425422687083483, 1.436446189880371, 0.07495994865894318, -1.5142672061920166, -0.00016504914674442261, 0.00016504914674442261, 0.8680475950241089, -0.0558861680328846, -0.024223696440458298, -1.667620301246643, -0.11005569249391556, 1.6721980571746826, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8302815556526184, -0.05054550990462303, -0.0032425422687083483, 1.436446189880371, 0.07495994865894318, -1.5142672061920166, -0.00016504914674442261, 0.00016504914674442261, 0.8680475950241089, -0.056267641484737396, -0.024223696440458298, -1.6657129526138306, -0.10967422276735306, 1.6767758131027222, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8302815556526184, -0.05054550990462303, -0.0032425422687083483, 1.436446189880371, 0.07495994865894318, -1.5142672061920166, -0.00016504914674442261, 0.00016504914674442261, 0.8680475950241089, -0.056267641484737396, -0.024223696440458298, -1.6657129526138306, -0.10967422276735306, 1.6794461011886597, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8302815556526184, -0.05054550990462303, -0.0032425422687083483, 1.436446189880371, 0.07495994865894318, -1.514648675918579, -0.00016504914674442261, 0.00016504914674442261, 0.8680475950241089, -0.056267641484737396, -0.024223696440458298, -1.6657129526138306, -0.10967422276735306, 1.6794461011886597, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8302815556526184, -0.05054550990462303, -0.0032425422687083483, 1.436446189880371, 0.07495994865894318, -1.514648675918579, -0.00016165558190550655, 0.00016165558190550655, 0.8680475950241089, -0.056267641484737396, -0.024223696440458298, -1.666094422340393, -0.10967422276735306, 1.6798275709152222, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8302815556526184, -0.05054550990462303, -0.0036240178160369396, 1.436446189880371, 0.07495994865894318, -1.514648675918579, -0.00016504914674442261, 0.00016504914674442261, 0.8680475950241089, -0.056267641484737396, -0.024605173617601395, -1.666094422340393, -0.11043716967105865, 1.6866941452026367, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.05054550990462303, -0.005149920005351305, 1.436446189880371, 0.07572289556264877, -1.5150301456451416, -0.00016844485071487725, 0.00016844485071487725, 0.8680475950241089, -0.056267641484737396, -0.02536812424659729, -1.666094422340393, -0.11387044936418533, 1.6870756149291992, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8272297382354736, -0.05054550990462303, -0.00667582219466567, 1.4375905990600586, 0.07991912961006165, -1.516937494277954, -0.00016844485071487725, 0.00016844485071487725, 0.8676661252975464, -0.056267641484737396, -0.026512550190091133, -1.6611353158950806, -0.11692225188016891, 1.6821163892745972, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8264667987823486, -0.05054550990462303, -0.0078202486038208, 1.4600976705551147, 0.08373387902975082, -1.5409704446792603, -0.00017184266471304, 0.00017184266471304, 0.8676661252975464, -0.056267641484737396, -0.026512550190091133, -1.6432058811187744, -0.11768520623445511, 1.664568543434143, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8260852694511414, -0.050164032727479935, -0.009346150793135166, 1.4791713953018188, 0.0875486359000206, -1.5611886978149414, -0.00019227426673751324, 0.00019227426673751324, 0.8669031858444214, -0.056267641484737396, -0.02689402550458908, -1.6306172609329224, -0.1199740618467331, 1.655794620513916, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8253223299980164, -0.048256658017635345, -0.010872052982449532, 1.5280003547668457, 0.09136339277029037, -1.6077287197113037, -0.00019227426673751324, 0.00019227426673751324, 0.8669031858444214, -0.056267641484737396, -0.02727550081908703, -1.6233692169189453, -0.12149996310472488, 1.6489280462265015, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8253223299980164, -0.04329747334122658, -0.013542382046580315, 1.5447852611541748, 0.09479667246341705, -1.6229877471923828, -0.00019227426673751324, 0.00019227426673751324, 0.8669031858444214, -0.056267641484737396, -0.027656977996230125, -1.6199358701705933, -0.12378881871700287, 1.6451133489608765, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8253223299980164, -0.040627144277095795, -0.01583123579621315, 1.5142672061920166, 0.09822995215654373, -1.5962843894958496, -0.00019227426673751324, 0.00019227426673751324, 0.8669031858444214, -0.056267641484737396, -0.02841992862522602, -1.6184099912643433, -0.12455176562070847, 1.644731879234314, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8253223299980164, -0.037193864583969116, -0.016975661739706993, 1.4948118925094604, 0.09822995215654373, -1.5802624225616455, -0.00019227426673751324, 0.00019227426673751324, 0.8669031858444214, -0.056267641484737396, -0.02841992862522602, -1.6161211729049683, -0.12531471252441406, 1.644350290298462, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8253223299980164, -0.037193864583969116, -0.01735713705420494, 1.4845120906829834, 0.09861142933368683, -1.5691996812820435, -0.00019227426673751324, 0.00019227426673751324, 0.8669031858444214, -0.056267641484737396, -0.02841992862522602, -1.6161211729049683, -0.12569619715213776, 1.644350290298462, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8253223299980164, -0.03681239113211632, -0.01735713705420494, 1.4772640466690063, 0.09861142933368683, -1.563096046447754, -0.00019227426673751324, 0.00019227426673751324, 0.8669031858444214, -0.056267641484737396, -0.02841992862522602, -1.6157397031784058, -0.12645913660526276, 1.644350290298462, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8249408602714539, -0.03681239113211632, -0.01735713705420494, 1.4715418815612793, 0.09861142933368683, -1.560044288635254, -0.00019227426673751324, 0.00019227426673751324, 0.8669031858444214, -0.056267641484737396, -0.028038453310728073, -1.6157397031784058, -0.12569619715213776, 1.644350290298462, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, -0.03681239113211632, -0.016975661739706993, 1.4703974723815918, 0.09861142933368683, -1.559281349182129, -0.00019227426673751324, 0.00019227426673751324, 0.8669031858444214, -0.056267641484737396, -0.02727550081908703, -1.6157397031784058, -0.12493324279785156, 1.644350290298462, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, -0.03681239113211632, -0.016975661739706993, 1.4700160026550293, 0.09861142933368683, -1.5585182905197144, -0.00019227426673751324, 0.00019227426673751324, 0.8669031858444214, -0.056267641484737396, -0.02727550081908703, -1.6153582334518433, -0.12417028844356537, 1.644350290298462, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, -0.03681239113211632, -0.016975661739706993, 1.4700160026550293, 0.09861142933368683, -1.5562294721603394, -0.00018886369070969522, 0.00018886369070969522, 0.8665217161178589, -0.056267641484737396, -0.02727550081908703, -1.6153582334518433, -0.12302586436271667, 1.644731879234314, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, -0.03681239113211632, -0.016975661739706993, 1.4700160026550293, 0.09861142933368683, -1.5562294721603394, -0.00018886369070969522, 0.00018886369070969522, 0.8630884289741516, -0.056267641484737396, -0.026512550190091133, -1.6145952939987183, -0.12073700875043869, 1.650835394859314, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8245593905448914, -0.03681239113211632, -0.016975661739706993, 1.4700160026550293, 0.09822995215654373, -1.5558480024337769, -0.00018886369070969522, 0.00018886369070969522, 0.8573662638664246, -0.056267641484737396, -0.026512550190091133, -1.6126878261566162, -0.11959258466959, 1.660753846168518, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8344777822494507, -0.03681239113211632, -0.016212711110711098, 1.4696345329284668, 0.09784847497940063, -1.5466926097869873, -0.00018886369070969522, 0.00018886369070969522, 0.8550774455070496, -0.056267641484737396, -0.026512550190091133, -1.6126878261566162, -0.11730372905731201, 1.6641870737075806, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.841725766658783, -0.03643091395497322, -0.01583123579621315, 1.4696345329284668, 0.09594109654426575, -1.5398260354995728, -0.00018886369070969522, 0.00018886369070969522, 0.8535515666007996, -0.056267641484737396, -0.026512550190091133, -1.6130692958831787, -0.11730372905731201, 1.6664758920669556, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -0.03604944050312042, -0.015449759550392628, 1.4696345329284668, 0.09365224838256836, -1.5356298685073853, -0.00018886369070969522, 0.00018886369070969522, 0.8531700372695923, -0.056267641484737396, -0.026512550190091133, -1.6130692958831787, -0.11730372905731201, 1.6683833599090576, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.848210871219635, -0.03604944050312042, -0.015449759550392628, 1.4696345329284668, 0.09288929402828217, -1.5321965217590332, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026512550190091133, -1.6145952939987183, -0.11730372905731201, 1.6683833599090576, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.03604944050312042, -0.015449759550392628, 1.4696345329284668, 0.09136339277029037, -1.5291447639465332, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026512550190091133, -1.6157397031784058, -0.11730372905731201, 1.6680018901824951, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8558403849601746, -0.03604944050312042, -0.014686808921396732, 1.4696345329284668, 0.09136339277029037, -1.5207523107528687, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026512550190091133, -1.6157397031784058, -0.11730372905731201, 1.667620301246643, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8619440197944641, -0.03604944050312042, -0.014686808921396732, 1.4696345329284668, 0.09136339277029037, -1.513885736465454, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6157397031784058, -0.11730372905731201, 1.667620301246643, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8649957776069641, -0.03604944050312042, -0.014686808921396732, 1.4696345329284668, 0.09136339277029037, -1.512359857559204, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6157397031784058, -0.11730372905731201, 1.667620301246643, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8661402463912964, -0.03604944050312042, -0.014686808921396732, 1.4696345329284668, 0.09136339277029037, -1.5100709199905396, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6157397031784058, -0.11730372905731201, 1.667620301246643, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8665217161178589, -0.03604944050312042, -0.014686808921396732, 1.4696345329284668, 0.09174486994743347, -1.5077821016311646, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6157397031784058, -0.11730372905731201, 1.667620301246643, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8665217161178589, -0.03643091395497322, -0.014686808921396732, 1.4696345329284668, 0.09174486994743347, -1.506637692451477, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6157397031784058, -0.11730372905731201, 1.667620301246643, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8665217161178589, -0.03643091395497322, -0.014686808921396732, 1.4696345329284668, 0.09174486994743347, -1.506637692451477, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6157397031784058, -0.11692225188016891, 1.6680018901824951, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8646143078804016, -0.03643091395497322, -0.014686808921396732, 1.4696345329284668, 0.09174486994743347, -1.5070191621780396, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6153582334518433, -0.11692225188016891, 1.6680018901824951, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8581292629241943, -0.03604944050312042, -0.014686808921396732, 1.4696345329284668, 0.09174486994743347, -1.5127413272857666, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6157397031784058, -0.11692225188016891, 1.6683833599090576, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03604944050312042, -0.014686808921396732, 1.4692530632019043, 0.09212634712457657, -1.5226596593856812, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6153582334518433, -0.11692225188016891, 1.6683833599090576, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840199887752533, -0.03643091395497322, -0.014686808921396732, 1.4692530632019043, 0.09212634712457657, -1.5337224006652832, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6153582334518433, -0.11692225188016891, 1.6683833599090576, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8356221914291382, -0.03604944050312042, -0.014686808921396732, 1.4692530632019043, 0.09212634712457657, -1.5398260354995728, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6153582334518433, -0.11692225188016891, 1.6687648296356201, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8337147831916809, -0.03643091395497322, -0.014686808921396732, 1.4692530632019043, 0.09212634712457657, -1.5409704446792603, -0.00018886369070969522, 0.00018886369070969522, 0.8527885675430298, -0.056267641484737396, -0.026131074875593185, -1.6153582334518433, -0.11692225188016891, 1.6687648296356201, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000016/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000016/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..1742f752091aba6762c617681ef0fd129b409d3b
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000016/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000016/temporal.json b/rc-table30-v2__rc-dos-w1/000016/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..da9abe9c5a96622bbe484ef456b1c33ec3bd34c8
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000016/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8550774455070496, 0.14438849687576294, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.9000915288925171, 0.11043716967105865, -0.07991912961006165, -1.5897992849349976, -0.12149996310472488, 1.6611353158950806, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8550774455070496, 0.14476996660232544, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.9000915288925171, 0.11043716967105865, -0.07991912961006165, -1.5897992849349976, -0.12188144028186798, 1.6611353158950806, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8550774455070496, 0.14438849687576294, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.9000915288925171, 0.11043716967105865, -0.07991912961006165, -1.5897992849349976, -0.12149996310472488, 1.6611353158950806, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8550774455070496, 0.14476996660232544, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.9000915288925171, 0.11043716967105865, -0.07991912961006165, -1.593614101409912, -0.12188144028186798, 1.6611353158950806, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8550774455070496, 0.14438849687576294, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.8989471197128296, 0.11043716967105865, -0.07610437273979187, -1.597428798675537, -0.11959258466959, 1.6611353158950806, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8550774455070496, 0.14438849687576294, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.8985656499862671, 0.09975585341453552, -0.03032730519771576, -1.5981918573379517, -0.09594109654426575, 1.6626611948013306, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8546959757804871, 0.14438849687576294, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.8836880922317505, 0.03528648987412453, 0.09670405089855194, -1.6004806756973267, 0.05283436179161072, 1.6966124773025513, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, 0.14438849687576294, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.8375295400619507, -0.1039520874619484, 0.2805752754211426, -1.6004806756973267, 0.2470054179430008, 1.72255277633667, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8531700372695923, 0.14438849687576294, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.7864118218421936, -0.2821011543273926, 0.4655908942222595, -1.6000992059707642, 0.421339750289917, 1.733234167098999, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8508812189102173, 0.14400701224803925, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.7166017889976501, -0.506790280342102, 0.6795986890792847, -1.6000992059707642, 0.6071183085441589, 1.740482211112976, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14400701224803925, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.6364919543266296, -0.7459754347801208, 0.8943694233894348, -1.5997177362442017, 0.8031967878341675, 1.736285924911499, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14400701224803925, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.5590524077415466, -0.9657053351402283, 1.0885404348373413, -1.6004806756973267, 0.9725719094276428, 1.7004272937774658, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14400701224803925, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.47932401299476624, -1.1774243116378784, 1.272030234336853, -1.595902919769287, 1.122873306274414, 1.665331482887268, -0.0006874055834487081, 0.0006874055834487081], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14362554252147675, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.41180285811424255, -1.3498512506484985, 1.4192798137664795, -1.584840178489685, 1.2491416931152344, 1.638246774673462, -0.006469701882451773, 0.006469701882451773], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.36640727519989014, -1.4852750301361084, 1.5329594612121582, -1.5691996812820435, 1.354047417640686, 1.6145952939987183, -0.013817002065479755, 0.013817002065479755], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8508812189102173, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.343900203704834, -1.5844587087631226, 1.6138323545455933, -1.5550850629806519, 1.4208056926727295, 1.5955214500427246, -0.019213292747735977, 0.019213292747735977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.33512628078460693, -1.660753846168518, 1.6760128736495972, -1.5512703657150269, 1.4639123678207397, 1.5676738023757935, -0.022641653195023537, 0.022641653195023537], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.33436331152915955, -1.7198824882507324, 1.7320897579193115, -1.5474555492401123, 1.484130620956421, 1.5383001565933228, -0.022721316665410995, 0.022721316665410995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.3374151289463043, -1.7683298587799072, 1.7809185981750488, -1.5466926097869873, 1.500152587890625, 1.5119783878326416, -0.022721316665410995, 0.022721316665410995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.343900203704834, -1.80571448802948, 1.8244068622589111, -1.5447852611541748, 1.5054932832717896, 1.491378664970398, -0.022721316665410995, 0.022721316665410995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.34847790002822876, -1.8385213613510132, 1.8591210842132568, -1.5444037914276123, 1.512359857559204, 1.4837491512298584, -0.022721316665410995, 0.022721316665410995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.35152971744537354, -1.8705652952194214, 1.877431869506836, -1.5440223217010498, 1.5135042667388916, 1.4761196374893188, -0.022721316665410995, 0.022721316665410995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.35114824771881104, -1.900701880455017, 1.8892576694488525, -1.5447852611541748, 1.5165560245513916, 1.4726864099502563, -0.022721316665410995, 0.022721316665410995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.72255277633667, -0.0, 0.0, 0.35114824771881104, -1.9304569959640503, 1.9029908180236816, -1.5516518354415894, 1.519226312637329, 1.4726864099502563, -0.022721316665410995, 0.022721316665410995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.35114824771881104, -1.956397294998169, 1.9247348308563232, -1.567292332649231, 1.5199893712997437, 1.4726864099502563, -0.022711358964443207, 0.022711358964443207], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.34847790002822876, -1.9762340784072876, 1.946860432624817, -1.574540376663208, 1.5196079015731812, 1.4757381677627563, -0.022711358964443207, 0.022711358964443207], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3423742949962616, -1.9934004545211792, 1.9586862325668335, -1.5829328298568726, 1.5196079015731812, 1.481841802597046, -0.022701403126120567, 0.022701403126120567], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3381780683994293, -2.0067520141601562, 1.9625009298324585, -1.5882734060287476, 1.5196079015731812, 1.484893560409546, -0.02258189395070076, 0.02258189395070076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.33512628078460693, -2.0189592838287354, 1.9651713371276855, -1.5897992849349976, 1.5196079015731812, 1.484893560409546, -0.02258189395070076, 0.02258189395070076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.33207446336746216, -2.0296406745910645, 1.969367504119873, -1.5897992849349976, 1.5203708410263062, 1.4845120906829834, -0.02258189395070076, 0.02258189395070076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.32940414547920227, -2.0372700691223145, 1.9739452600479126, -1.5932326316833496, 1.519226312637329, 1.4806973934173584, -0.02258189395070076, 0.02258189395070076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3278782367706299, -2.044518232345581, 1.9754711389541626, -1.5932326316833496, 1.5196079015731812, 1.4715418815612793, -0.02258189395070076, 0.02258189395070076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3274967670440674, -2.049095869064331, 1.975852608680725, -1.5924696922302246, 1.519226312637329, 1.4612420797348022, -0.02240258827805519, 0.02240258827805519], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.325970858335495, -2.0517661571502686, 1.977378487586975, -1.5932326316833496, 1.519226312637329, 1.4475089311599731, -0.021625330671668053, 0.021625330671668053], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.325970858335495, -2.0548181533813477, 1.9777599573135376, -1.5932326316833496, 1.5180819034576416, 1.434157371520996, -0.021615363657474518, 0.021615363657474518], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3263523280620575, -2.0555810928344727, 1.9777599573135376, -1.592851161956787, 1.515411615371704, 1.4192798137664795, -0.021605398505926132, 0.021605398505926132], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.325970858335495, -2.0555810928344727, 1.975852608680725, -1.592851161956787, 1.513122797012329, 1.408216953277588, -0.02060994878411293, 0.02060994878411293], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3263523280620575, -2.059014320373535, 1.97356379032135, -1.592851161956787, 1.5108338594436646, 1.4013503789901733, -0.019925083965063095, 0.019925083965063095], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.325970858335495, -2.0616846084594727, 1.9689860343933105, -1.592851161956787, 1.508163571357727, 1.3948653936386108, -0.018123885616660118, 0.018123885616660118], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.325970858335495, -2.06435489654541, 1.9651713371276855, -1.592851161956787, 1.508163571357727, 1.3906691074371338, -0.016883643344044685, 0.016883643344044685], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3263523280620575, -2.066643714904785, 1.9632638692855835, -1.5901808738708496, 1.5077821016311646, 1.3879988193511963, -0.01237849984318018, 0.01237849984318018], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3263523280620575, -2.0685510635375977, 1.9640268087387085, -1.5897992849349976, 1.5085450410842896, 1.3868544101715088, -0.01163890864700079, 0.01163890864700079], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3263523280620575, -2.069695472717285, 1.9651713371276855, -1.589417815208435, 1.5093079805374146, 1.3864728212356567, -0.010506104677915573, 0.010506104677915573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3274967670440674, -2.0704586505889893, 1.965552806854248, -1.5890363454818726, 1.5100709199905396, 1.3860913515090942, -0.008919712156057358, 0.008919712156057358], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3271152675151825, -2.0712215900421143, 1.965552806854248, -1.58865487575531, 1.5100709199905396, 1.3841840028762817, -0.008326186798512936, 0.008326186798512936], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3271152675151825, -2.0712215900421143, 1.9659342765808105, -1.5890363454818726, 1.5100709199905396, 1.3822766542434692, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3271152675151825, -2.0712215900421143, 1.9659342765808105, -1.5897992849349976, 1.5093079805374146, 1.3796063661575317, -0.007829204201698303, 0.007829204201698303], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3271152675151825, -2.0712215900421143, 1.966315746307373, -1.5897992849349976, 1.5093079805374146, 1.3765544891357422, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3271152675151825, -2.0723659992218018, 1.970130443572998, -1.591325283050537, 1.5093079805374146, 1.3738842010498047, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3263523280620575, -2.0742733478546143, 1.9815747737884521, -1.6004806756973267, 1.496337890625, 1.3719768524169922, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3271152675151825, -2.0708401203155518, 2.0017929077148438, -1.5997177362442017, 1.501678466796875, 1.3719768524169922, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.33245593309402466, -2.0639734268188477, 2.0273518562316895, -1.591325283050537, 1.506637692451477, 1.3715953826904297, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3377965986728668, -2.0532920360565186, 2.0593957901000977, -1.5707255601882935, 1.508163571357727, 1.3715953826904297, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3427557647228241, -2.0403220653533936, 2.0902953147888184, -1.5539406538009644, 1.5085450410842896, 1.3712139129638672, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.34542611241340637, -2.019340753555298, 2.1261539459228516, -1.5257114171981812, 1.5085450410842896, 1.3609139919281006, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.34962233901023865, -1.9712748527526855, 2.1429388523101807, -1.5039674043655396, 1.4932860136032104, 1.354810357093811, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3534370958805084, -1.8549247980117798, 2.0708401203155518, -1.4894713163375854, 1.4105058908462524, 1.3483253717422485, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3549630045890808, -1.6733424663543701, 1.8915464878082275, -1.4799343347549438, 1.2438009977340698, 1.341458797454834, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3427557647228241, -1.4585717916488647, 1.6546502113342285, -1.4738308191299438, 1.0275044441223145, 1.3368810415267944, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.31681543588638306, -1.2453268766403198, 1.4085984230041504, -1.4765011072158813, 0.80663001537323, 1.3345922231674194, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.2759975492954254, -1.0679408311843872, 1.184290885925293, -1.4734493494033813, 0.6258106231689453, 1.3345922231674194, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.2294575423002243, -0.9428167939186096, 1.0046159029006958, -1.4730678796768188, 0.4827573001384735, 1.3345922231674194, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.19321736693382263, -0.8772030472755432, 0.8714808821678162, -1.4730678796768188, 0.38242924213409424, 1.3345922231674194, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.16880293190479279, -0.8688105344772339, 0.7875562906265259, -1.4726864099502563, 0.30498969554901123, 1.3345922231674194, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.15430685877799988, -0.9027618765830994, 0.7490272521972656, -1.4730678796768188, 0.25425344705581665, 1.334210753440857, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.14438849687576294, -0.951972246170044, 0.7375829815864563, -1.4734493494033813, 0.2294575423002243, 1.3338292837142944, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.13752193748950958, -0.9981307983398438, 0.7383459210395813, -1.4795528650283813, 0.20885786414146423, 1.3311588764190674, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.13065537810325623, -1.0378042459487915, 0.7455939650535583, -1.4845120906829834, 0.1974135935306549, 1.3307774066925049, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.12302586436271667, -1.0675593614578247, 0.7524605393409729, -1.488326907157898, 0.19321736693382263, 1.3307774066925049, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.1188296303153038, -1.0908293724060059, 0.7566567659378052, -1.492141604423523, 0.18978407979011536, 1.3307774066925049, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11615930497646332, -1.1064698696136475, 0.7558938264846802, -1.492141604423523, 0.18673227727413177, 1.3307774066925049, -0.007614073343575001, 0.007614073343575001], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11539635062217712, -1.114099383354187, 0.7509346008300781, -1.492141604423523, 0.1844434291124344, 1.3307774066925049, -0.007879766635596752, 0.007879766635596752], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11387044936418533, -1.117151141166687, 0.7452124953269958, -1.492141604423523, 0.18749523162841797, 1.3315403461456299, -0.008281816728413105, 0.008281816728413105], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11387044936418533, -1.117151141166687, 0.7410162687301636, -1.492141604423523, 0.19245441257953644, 1.3345922231674194, -0.012561713345348835, 0.012561713345348835], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11463340371847153, -1.112191915512085, 0.7398717999458313, -1.492141604423523, 0.1993209719657898, 1.334973692893982, -0.017559492960572243, 0.017559492960572243], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11615930497646332, -1.1030365228652954, 0.7455939650535583, -1.492141604423523, 0.21190966665744781, 1.335736632347107, -0.018799809738993645, 0.018799809738993645], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7191195487976074, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.12073700875043869, -1.0767147541046143, 0.7574197053909302, -1.492141604423523, 0.2286945879459381, 1.3376439809799194, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.718738079071045, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.14095520973205566, -1.0263599157333374, 0.7776378989219666, -1.4955748319625854, 0.2443350851535797, 1.338025450706482, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.718738079071045, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.18749523162841797, -0.9786755442619324, 0.8321889042854309, -1.495193362236023, 0.28286412358283997, 1.3376439809799194, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.718738079071045, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.25616082549095154, -0.9813458323478699, 0.9401465058326721, -1.495193362236023, 0.3770885765552521, 1.347943902015686, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.718738079071045, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.32101166248321533, -1.0652704238891602, 1.098840355873108, -1.4917601346969604, 0.541886031627655, 1.3994430303573608, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.718738079071045, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.36411839723587036, -1.2144273519515991, 1.2827115058898926, -1.492141604423523, 0.732623815536499, 1.4608606100082397, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7191195487976074, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3896772861480713, -1.3899061679840088, 1.4627679586410522, -1.4917601346969604, 0.9172579646110535, 1.5150301456451416, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.7191195487976074, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4037918746471405, -1.570344090461731, 1.6271839141845703, -1.4917601346969604, 1.0797665119171143, 1.5501258373260498, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7191195487976074, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.41065841913223267, -1.7294193506240845, 1.7664225101470947, -1.492141604423523, 1.2083238363265991, 1.574540376663208, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.41485464572906494, -1.8606469631195068, 1.873617172241211, -1.4948118925094604, 1.3101778030395508, 1.591325283050537, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.422102689743042, -1.9567787647247314, 1.952582597732544, -1.496337890625, 1.3727397918701172, 1.5989547967910767, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.43125811219215393, -2.0235371589660645, 2.0063705444335938, -1.4955748319625854, 1.41165030002594, 1.6058213710784912, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.44117647409439087, -2.0685510635375977, 2.0433738231658936, -1.4955748319625854, 1.4333943128585815, 1.6092545986175537, -0.01882929541170597, 0.01882929541170597], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.44766154885292053, -2.097543239593506, 2.0685510635375977, -1.4955748319625854, 1.4425498247146606, 1.6100175380706787, -0.01881946623325348, 0.01881946623325348], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4510948359966278, -2.11661696434021, 2.0826656818389893, -1.495956301689148, 1.4566643238067627, 1.6134508848190308, -0.018701575696468353, 0.018701575696468353], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4549095928668976, -2.1276798248291016, 2.092202663421631, -1.495956301689148, 1.4562828540802002, 1.6134508848190308, -0.017530404031276703, 0.017530404031276703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.45719844102859497, -2.134927988052368, 2.0986876487731934, -1.4982452392578125, 1.4593347311019897, 1.6134508848190308, -0.01707610674202442, 0.01707610674202442], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.45910581946372986, -2.1391241550445557, 2.1047914028167725, -1.504348874092102, 1.4600976705551147, 1.6138323545455933, -0.016548138111829758, 0.016548138111829758], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.46139466762542725, -2.144083261489868, 2.10898756980896, -1.5119783878326416, 1.4631494283676147, 1.6172655820846558, -0.01528996229171753, 0.01528996229171753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.46253910660743713, -2.147135019302368, 2.1108949184417725, -1.5180819034576416, 1.4635308980941772, 1.6203173398971558, -0.014556679874658585, 0.014556679874658585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.465209424495697, -2.1490426063537598, 2.111276388168335, -1.5222781896591187, 1.4631494283676147, 1.6206988096237183, -0.01413503848016262, 0.01413503848016262], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4659723937511444, -2.1498055458068848, 2.111276388168335, -1.5260928869247437, 1.4631494283676147, 1.6218433380126953, -0.01206678431481123, 0.01206678431481123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4667353332042694, -2.1501870155334473, 2.1108949184417725, -1.5283818244934082, 1.4631494283676147, 1.6233692169189453, -0.011066724546253681, 0.011066724546253681], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4671168029308319, -2.1509499549865723, 2.11051344871521, -1.5306706428527832, 1.4631494283676147, 1.6233692169189453, -0.009072696790099144, 0.009072696790099144], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4663538634777069, -2.1509499549865723, 2.10898756980896, -1.5306706428527832, 1.4627679586410522, 1.6233692169189453, -0.007692660670727491, 0.007692660670727491], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4674982726573944, -2.1505684852600098, 2.106698751449585, -1.5310521125793457, 1.4604791402816772, 1.6233692169189453, -0.007692660670727491, 0.007692660670727491], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4686427116394043, -2.1505684852600098, 2.10440993309021, -1.5314335823059082, 1.4593347311019897, 1.6233692169189453, -0.007685502525418997, 0.007685502525418997], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4701686203479767, -2.1505684852600098, 2.1025025844573975, -1.5325779914855957, 1.4581903219223022, 1.6233692169189453, -0.007678345777094364, 0.007678345777094364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4713130295276642, -2.1505684852600098, 2.1002135276794434, -1.5333409309387207, 1.4570459127426147, 1.6233692169189453, -0.0066572451032698154, 0.0066572451032698154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4724574685096741, -2.1505684852600098, 2.0979247093200684, -1.5363928079605103, 1.4566643238067627, 1.6233692169189453, -0.005001332610845566, 0.005001332610845566], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4736018776893616, -2.1501870155334473, 2.0956358909606934, -1.5341038703918457, 1.4559013843536377, 1.6233692169189453, -0.00344504090026021, 0.00344504090026021], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.47436484694480896, -2.1501870155334473, 2.0948729515075684, -1.5325779914855957, 1.4555199146270752, 1.6233692169189453, -0.002496865810826421, 0.002496865810826421], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.47512778639793396, -2.1501870155334473, 2.0933470726013184, -1.5310521125793457, 1.4555199146270752, 1.6233692169189453, -0.0016494232695549726, 0.0016494232695549726], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.47627222537994385, -2.1501870155334473, 2.093728542327881, -1.5310521125793457, 1.4555199146270752, 1.6233692169189453, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.47741663455963135, -2.1501870155334473, 2.099069118499756, -1.5299077033996582, 1.4559013843536377, 1.6233692169189453, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4800869822502136, -2.1509499549865723, 2.11203932762146, -1.5173189640045166, 1.4559013843536377, 1.6233692169189453, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4850461483001709, -2.1414129734039307, 2.138742685317993, -1.5119783878326416, 1.4562828540802002, 1.6233692169189453, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4839017391204834, -2.122720718383789, 2.168879270553589, -1.5310521125793457, 1.4562828540802002, 1.6233692169189453, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.481612890958786, -2.0857174396514893, 2.2035934925079346, -1.5505073070526123, 1.4559013843536377, 1.6218433380126953, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4800869822502136, -2.0357441902160645, 2.2283895015716553, -1.5562294721603394, 1.4562828540802002, 1.6130692958831787, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.4690241813659668, -1.9426642656326294, 2.2020676136016846, -1.5691996812820435, 1.425764799118042, 1.597428798675537, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17338064312934875, -1.722934365272522, -0.0, 0.0, 0.44689860939979553, -1.7809185981750488, 2.050621747970581, -1.5829328298568726, 1.3151369094848633, 1.586366057395935, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.41256579756736755, -1.5581368207931519, 1.7942702770233154, -1.5867475271224976, 1.0782406330108643, 1.576829195022583, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.35191118717193604, -1.339932918548584, 1.5012969970703125, -1.587891936302185, 0.8085374236106873, 1.571107029914856, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17338064312934875, -1.722934365272522, -0.0, 0.0, 0.2748531401157379, -1.177042841911316, 1.267833948135376, -1.5981918573379517, 0.5952925682067871, 1.568818211555481, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.7198824882507324, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.21076524257659912, -1.0862516164779663, 1.1045624017715454, -1.5932326316833496, 0.47779813408851624, 1.567292332649231, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.16269932687282562, -1.0458152294158936, 0.9977492690086365, -1.5932326316833496, 0.39501792192459106, 1.5642404556274414, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.13981078565120697, -1.037422776222229, 0.9313725233078003, -1.5932326316833496, 0.3408484160900116, 1.5520333051681519, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8508812189102173, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.12912946939468384, -1.0465781688690186, 0.8836880922317505, -1.592088222503662, 0.3107118308544159, 1.5379186868667603, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11959258466959, -1.0626001358032227, 0.8558403849601746, -1.5932326316833496, 0.26913100481033325, 1.5207523107528687, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.1180666834115982, -1.0847257375717163, 0.839436948299408, -1.5932326316833496, 0.2573052644729614, 1.49786376953125, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11768520623445511, -1.1037994623184204, 0.8279926776885986, -1.592851161956787, 0.2439536154270172, 1.4837491512298584, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11539635062217712, -1.1175326108932495, 0.8169298768043518, -1.5932326316833496, 0.23594263195991516, 1.4757381677627563, -0.0015432786894962192, 0.0015432786894962192], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8508812189102173, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11463340371847153, -1.1255435943603516, 0.804341197013855, -1.5932326316833496, 0.23517967760562897, 1.4688715934753418, -0.001547495718114078, 0.001547495718114078], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11615930497646332, -1.1263065338134766, 0.7921339869499207, -1.5932326316833496, 0.2317463904619217, 1.4681086540222168, -0.004728215746581554, 0.004728215746581554], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11615930497646332, -1.117914080619812, 0.778782308101654, -1.5932326316833496, 0.2309834510087967, 1.4654383659362793, -0.012526738457381725, 0.012526738457381725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.11615930497646332, -1.1007477045059204, 0.76276034116745, -1.5932326316833496, 0.230601966381073, 1.4654383659362793, -0.017056837677955627, 0.017056837677955627], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.1192111074924469, -1.0728999376296997, 0.7440680265426636, -1.5932326316833496, 0.2309834510087967, 1.4654383659362793, -0.017860690131783485, 0.017860690131783485], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.12951095402240753, -1.025978446006775, 0.726138710975647, -1.5932326316833496, 0.2309834510087967, 1.4650568962097168, -0.017860690131783485, 0.017860690131783485], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.14858472347259521, -0.9637979865074158, 0.7173647880554199, -1.592851161956787, 0.23403525352478027, 1.4650568962097168, -0.017860690131783485, 0.017860690131783485], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.17986571788787842, -0.9107728600502014, 0.7200350761413574, -1.592851161956787, 0.25387197732925415, 1.4646753072738647, -0.017860690131783485, 0.017860690131783485], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.22259098291397095, -0.8741512298583984, 0.7249943017959595, -1.5897992849349976, 0.28324559330940247, 1.4646753072738647, -0.017850957810878754, 0.017850957810878754], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.26874953508377075, -0.8546959757804871, 0.7227054238319397, -1.5844587087631226, 0.31910428404808044, 1.4646753072738647, -0.017743967473506927, 0.017743967473506927], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3130006790161133, -0.8447775840759277, 0.7085908055305481, -1.5779736042022705, 0.3591592311859131, 1.4646753072738647, -0.017646824941039085, 0.017646824941039085], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.35000380873680115, -0.839436948299408, 0.691805899143219, -1.5707255601882935, 0.39845120906829834, 1.4642938375473022, -0.01714359223842621, 0.01714359223842621], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3721294105052948, -0.8352407217025757, 0.6750209927558899, -1.566147804260254, 0.44308385252952576, 1.4642938375473022, -0.01714359223842621, 0.01714359223842621], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14286258816719055, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0, 0.0, 0.3892957866191864, -0.8295185565948486, 0.6570916175842285, -1.5543221235275269, 0.4854276478290558, 1.4642938375473022, -0.01714359223842621, 0.01714359223842621], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.722934365272522, -0.0020621521398425102, 0.0020621521398425102, 0.40989547967910767, -0.8199816942214966, 0.6387808322906494, -1.5432593822479248, 0.5167086124420166, 1.4642938375473022, -0.017085744068026543, 0.017085744068026543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.14324407279491425, -0.08258945494890213, 1.71950101852417, 0.17299915850162506, -1.7256046533584595, -0.01976662129163742, 0.01976662129163742, 0.44346532225608826, -0.8127336502075195, 0.620088517665863, -1.5321965217590332, 0.5483710765838623, 1.4642938375473022, -0.017085744068026543, 0.017085744068026543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8501182794570923, 0.14133669435977936, -0.08220797777175903, 1.7183566093444824, 0.17338064312934875, -1.725223183631897, -0.03187156468629837, 0.03187156468629837, 0.47512778639793396, -0.80663001537323, 0.6010147333145142, -1.5249484777450562, 0.5880445837974548, 1.4642938375473022, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8367666006088257, 0.13103684782981873, -0.061226826161146164, 1.7008087635040283, 0.17071031033992767, -1.725223183631897, -0.034, 0.034, 0.49076828360557556, -0.7932783961296082, 0.5830853581428528, -1.5165560245513916, 0.6242847442626953, 1.4642938375473022, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, 0.08411535620689392, 0.01735713705420494, 1.6813534498214722, 0.14095520973205566, -1.725986123085022, -0.034, 0.034, 0.4999237060546875, -0.7738231420516968, 0.569733738899231, -1.505874752998352, 0.6654840707778931, 1.4662013053894043, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7570382356643677, -0.038719769567251205, 0.16117341816425323, 1.6687648296356201, 0.02079041674733162, -1.7496376037597656, -0.034, 0.034, 0.5048828721046448, -0.7528420090675354, 0.5601968169212341, -1.500152587890625, 0.7131685614585876, 1.4799343347549438, -0.017095381394028664, 0.017095381394028664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7257572412490845, -0.2470054179430008, 0.36335545778274536, 1.6634241342544556, -0.17071031033992767, -1.7645151615142822, -0.034, 0.034, 0.5071717500686646, -0.7337682247161865, 0.5544747114181519, -1.496337890625, 0.7593270540237427, 1.4932860136032104, -0.017105020582675934, 0.017105020582675934], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7040131092071533, -0.5266270041465759, 0.621614396572113, 1.658846378326416, -0.42706188559532166, -1.7725261449813843, -0.034, 0.034, 0.509079098701477, -0.7185091972351074, 0.5502784848213196, -1.495193362236023, 0.8012893795967102, 1.5035858154296875, -0.017105020582675934, 0.017105020582675934], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.692568838596344, -0.8527885675430298, 0.918402373790741, 1.656557559967041, -0.733386754989624, -1.7607003450393677, -0.034, 0.034, 0.5106050372123718, -0.7032501697540283, 0.5422675013542175, -1.4940489530563354, 0.838674008846283, 1.5115967988967896, -0.01707610674202442, 0.01707610674202442], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6784542798995972, -1.121347427368164, 1.1732280254364014, 1.6371023654937744, -0.9500648379325867, -1.7111085653305054, -0.034, 0.034, 0.5106050372123718, -0.691042959690094, 0.5319676399230957, -1.4909971952438354, 0.8627069592475891, 1.515411615371704, -0.01528996229171753, 0.01528996229171753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6578545570373535, -1.356717824935913, 1.3937208652496338, 1.6145952939987183, -1.117151141166687, -1.6706721782684326, -0.034, 0.034, 0.5106050372123718, -0.6830319762229919, 0.5197604298591614, -1.487182378768921, 0.8787289261817932, 1.5230411291122437, -0.013889480382204056, 0.013889480382204056], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -1.5222781896591187, 1.5440223217010498, 1.6008621454238892, -1.2201495170593262, -1.646257758140564, -0.034, 0.034, 0.5106050372123718, -0.6784542798995972, 0.5098420977592468, -1.4845120906829834, 0.8886472582817078, 1.5306706428527832, -0.011571004986763, 0.011571004986763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6322957277297974, -1.6332875490188599, 1.640535593032837, 1.592851161956787, -1.27775239944458, -1.6313802003860474, -0.034, 0.034, 0.5106050372123718, -0.6761654019355774, 0.5033569931983948, -1.484130620956421, 0.8985656499862671, 1.5348668098449707, -0.006983930245041847, 0.006983930245041847], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6315327882766724, -1.7107270956039429, 1.7057678699493408, 1.5852216482162476, -1.3155183792114258, -1.6203173398971558, -0.034, 0.034, 0.5106050372123718, -0.6757839322090149, 0.4983977973461151, -1.484130620956421, 0.9069581031799316, 1.5379186868667603, -0.003999161068350077, 0.003999161068350077], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6368734240531921, -1.7629892826080322, 1.7553597688674927, 1.5779736042022705, -1.333447813987732, -1.6100175380706787, -0.034, 0.034, 0.5106050372123718, -0.6757839322090149, 0.4957274794578552, -1.4837491512298584, 0.9115357995033264, 1.5383001565933228, -0.0008951324853114784, 0.0008951324853114784], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6441214680671692, -1.797703504562378, 1.7942702770233154, 1.5730143785476685, -1.344510555267334, -1.5970473289489746, -0.034, 0.034, 0.5106050372123718, -0.6765468716621399, 0.49382010102272034, -1.4837491512298584, 0.9126802682876587, 1.5383001565933228, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6555657386779785, -1.8190661668777466, 1.821736454963684, 1.566529393196106, -1.3521400690078735, -1.586366057395935, -0.034, 0.034, 0.5106050372123718, -0.6818875670433044, 0.49191272258758545, -1.4837491512298584, 0.9142061471939087, 1.5386816263198853, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.8308918476104736, 1.8377584218978882, 1.5585182905197144, -1.354810357093811, -1.5779736042022705, -0.034, 0.034, 0.5106050372123718, -0.6879911422729492, 0.49000534415245056, -1.483367681503296, 0.9145876169204712, 1.5390630960464478, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6662470698356628, -1.8389028310775757, 1.8469138145446777, 1.5569924116134644, -1.358243703842163, -1.565384864807129, -0.034, 0.034, 0.5106050372123718, -0.6929503083229065, 0.49000534415245056, -1.483367681503296, 0.9153505563735962, 1.5390630960464478, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6677729487419128, -1.8461508750915527, 1.8522545099258423, 1.5474555492401123, -1.359006643295288, -1.5520333051681519, -0.034, 0.034, 0.5106050372123718, -0.6979095339775085, 0.49000534415245056, -1.483367681503296, 0.9157320261001587, 1.5390630960464478, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6692988276481628, -1.8533989191055298, 1.8553062677383423, 1.5394445657730103, -1.3586251735687256, -1.5417333841323853, -0.034, 0.034, 0.5106050372123718, -0.7055390477180481, 0.49000534415245056, -1.4829862117767334, 0.9157320261001587, 1.5390630960464478, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6704432964324951, -1.8621728420257568, 1.8564507961273193, 1.5348668098449707, -1.3586251735687256, -1.5363928079605103, -0.034, 0.034, 0.5109865069389343, -0.7139315009117126, 0.49038681387901306, -1.483367681503296, 0.9149690866470337, 1.5390630960464478, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6704432964324951, -1.871328353881836, 1.8572137355804443, 1.5329594612121582, -1.358243703842163, -1.5333409309387207, -0.034, 0.034, 0.5125123858451843, -0.7200350761413574, 0.49153125286102295, -1.4829862117767334, 0.9145876169204712, 1.5386816263198853, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6727321147918701, -1.8770503997802734, 1.8572137355804443, 1.5329594612121582, -1.354810357093811, -1.5299077033996582, -0.034, 0.034, 0.5128938555717468, -0.7238498330116272, 0.49191272258758545, -1.4829862117767334, 0.9142061471939087, 1.5386816263198853, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6746395230293274, -1.881628155708313, 1.8572137355804443, 1.5325779914855957, -1.354047417640686, -1.5264743566513062, -0.034, 0.034, 0.5148012638092041, -0.7272831201553345, 0.49191272258758545, -1.4829862117767334, 0.9142061471939087, 1.5383001565933228, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6750209927558899, -1.8858243227005005, 1.8572137355804443, 1.5321965217590332, -1.348706841468811, -1.5260928869247437, -0.034, 0.034, 0.5155642032623291, -0.7314793467521667, 0.49191272258758545, -1.4829862117767334, 0.9142061471939087, 1.5383001565933228, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6769283413887024, -1.8892576694488525, 1.8572137355804443, 1.5321965217590332, -1.3410773277282715, -1.5230411291122437, -0.034, 0.034, 0.5178530812263489, -0.7337682247161865, 0.49191272258758545, -1.4829862117767334, 0.9134432077407837, 1.5379186868667603, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6795986890792847, -1.894216775894165, 1.8572137355804443, 1.5321965217590332, -1.3376439809799194, -1.5230411291122437, -0.034, 0.034, 0.5193789601325989, -0.734912633895874, 0.49191272258758545, -1.4829862117767334, 0.9130617380142212, 1.5375372171401978, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6799801588058472, -1.9018462896347046, 1.8572137355804443, 1.5318150520324707, -1.334210753440857, -1.5226596593856812, -0.034, 0.034, 0.5216678380966187, -0.735675573348999, 0.49191272258758545, -1.4829862117767334, 0.9126802682876587, 1.5367742776870728, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6795986890792847, -1.9075684547424316, 1.8575952053070068, 1.5318150520324707, -1.3319218158721924, -1.5222781896591187, -0.034, 0.034, 0.5235751867294312, -0.7360570430755615, 0.49153125286102295, -1.4829862117767334, 0.9115357995033264, 1.5344853401184082, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6792172193527222, -1.9140535593032837, 1.8575952053070068, 1.5325779914855957, -1.3315403461456299, -1.5215152502059937, -0.034, 0.034, 0.5235751867294312, -0.7360570430755615, 0.49114975333213806, -1.4829862117767334, 0.9111543297767639, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6792172193527222, -1.9205386638641357, 1.8575952053070068, 1.5371557474136353, -1.3311588764190674, -1.5188448429107666, -0.034, 0.034, 0.5247195959091187, -0.7360570430755615, 0.49114975333213806, -1.4829862117767334, 0.9115357995033264, 1.5344853401184082, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.9232089519500732, 1.8575952053070068, 1.5417333841323853, -1.3292515277862549, -1.519226312637329, -0.034, 0.034, 0.5247195959091187, -0.7364385724067688, 0.49114975333213806, -1.4829862117767334, 0.9115357995033264, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6780728101730347, -1.9258793592453003, 1.8575952053070068, 1.5447852611541748, -1.3288700580596924, -1.519226312637329, -0.034, 0.034, 0.5247195959091187, -0.7364385724067688, 0.49114975333213806, -1.4829862117767334, 0.9115357995033264, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6769283413887024, -1.9285496473312378, 1.8575952053070068, 1.5485999584197998, -1.3284885883331299, -1.519226312637329, -0.034, 0.034, 0.5247195959091187, -0.7368200421333313, 0.49114975333213806, -1.4829862117767334, 0.9115357995033264, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6765468716621399, -1.9300755262374878, 1.8575952053070068, 1.5485999584197998, -1.3284885883331299, -1.519226312637329, -0.034, 0.034, 0.5251010656356812, -0.7372015118598938, 0.49114975333213806, -1.4829862117767334, 0.9107728600502014, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6765468716621399, -1.9312199354171753, 1.8568322658538818, 1.5485999584197998, -1.3277256488800049, -1.5196079015731812, -0.03281572088599205, 0.03281572088599205, 0.5254825949668884, -0.7372015118598938, 0.49038681387901306, -1.4829862117767334, 0.9100099205970764, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6769283413887024, -1.9316014051437378, 1.8560693264007568, 1.5505073070526123, -1.3269627094268799, -1.5196079015731812, -0.030732950195670128, 0.030732950195670128, 0.5254825949668884, -0.7372015118598938, 0.48962387442588806, -1.4829862117767334, 0.9096284508705139, 1.5344853401184082, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6765468716621399, -1.9316014051437378, 1.8537803888320923, 1.5508888959884644, -1.3254368305206299, -1.5199893712997437, -0.02980498969554901, 0.02980498969554901, 0.5254825949668884, -0.7372015118598938, 0.4888609051704407, -1.4829862117767334, 0.9092469811439514, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6765468716621399, -1.9316014051437378, 1.8511101007461548, 1.5512703657150269, -1.3254368305206299, -1.5203708410263062, -0.029240109026432037, 0.029240109026432037, 0.5258640646934509, -0.7372015118598938, 0.4888609051704407, -1.4829862117767334, 0.9081025123596191, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6761654019355774, -1.9316014051437378, 1.8492027521133423, 1.5512703657150269, -1.3254368305206299, -1.5226596593856812, -0.029000816866755486, 0.029000816866755486, 0.5273899435997009, -0.7375829815864563, 0.4888609051704407, -1.4829862117767334, 0.9065766334533691, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6746395230293274, -1.9316014051437378, 1.8476768732070923, 1.5512703657150269, -1.3254368305206299, -1.5230411291122437, -0.02887140028178692, 0.02887140028178692, 0.5273899435997009, -0.7379644513130188, 0.4884794354438782, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6746395230293274, -1.9316014051437378, 1.8472952842712402, 1.5512703657150269, -1.3254368305206299, -1.5226596593856812, -0.028732312843203545, 0.028732312843203545, 0.5277714133262634, -0.7379644513130188, 0.4884794354438782, -1.4829862117767334, 0.9065766334533691, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6738765835762024, -1.9316014051437378, 1.8472952842712402, 1.5516518354415894, -1.3258183002471924, -1.5226596593856812, -0.028695151209831238, 0.028695151209831238, 0.5281528830528259, -0.7387273907661438, 0.4880979657173157, -1.4829862117767334, 0.9065766334533691, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6731135845184326, -1.9316014051437378, 1.8472952842712402, 1.5520333051681519, -1.3258183002471924, -1.5226596593856812, -0.028648653998970985, 0.028648653998970985, 0.5296788215637207, -0.7394903302192688, 0.4877164959907532, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6723506450653076, -1.9316014051437378, 1.8472952842712402, 1.5524147748947144, -1.3258183002471924, -1.5222781896591187, -0.028769444674253464, 0.028769444674253464, 0.5300602912902832, -0.7406347990036011, 0.4865720570087433, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6700618267059326, -1.9316014051437378, 1.8469138145446777, 1.5569924116134644, -1.3258183002471924, -1.5222781896591187, -0.0289269108325243, 0.0289269108325243, 0.5315861701965332, -0.7406347990036011, 0.4858091175556183, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6685358881950378, -1.9316014051437378, 1.8472952842712402, 1.559281349182129, -1.3258183002471924, -1.5218967199325562, -0.029777849093079567, 0.029777849093079567, 0.5319676399230957, -0.7413977384567261, 0.4846646785736084, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6685358881950378, -1.9316014051437378, 1.8476768732070923, 1.559281349182129, -1.3258183002471924, -1.5215152502059937, -0.030768120661377907, 0.030768120661377907, 0.533875048160553, -0.7413977384567261, 0.4839017391204834, -1.483367681503296, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6685358881950378, -1.9316014051437378, 1.8480583429336548, 1.559281349182129, -1.3258183002471924, -1.519226312637329, -0.03109152428805828, 0.03109152428805828, 0.533875048160553, -0.7421606779098511, 0.4827573001384735, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6685358881950378, -1.9316014051437378, 1.8484398126602173, 1.559281349182129, -1.3235293626785278, -1.519226312637329, -0.03123028203845024, 0.03123028203845024, 0.533875048160553, -0.7429236173629761, 0.482375830411911, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6685358881950378, -1.9316014051437378, 1.8488212823867798, 1.559281349182129, -1.3139925003051758, -1.5196079015731812, -0.03123028203845024, 0.03123028203845024, 0.533875048160553, -0.7436865568161011, 0.481612890958786, -1.483367681503296, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6685358881950378, -1.9316014051437378, 1.8492027521133423, 1.559281349182129, -1.3082703351974487, -1.5196079015731812, -0.031100215390324593, 0.031100215390324593, 0.533875048160553, -0.7440680265426636, 0.4808499217033386, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6685358881950378, -1.9316014051437378, 1.8492027521133423, 1.559281349182129, -1.3036926984786987, -1.5196079015731812, -0.029285967350006104, 0.029285967350006104, 0.533875048160553, -0.7444495558738708, 0.4808499217033386, -1.483367681503296, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6670100092887878, -1.9319828748703003, 1.8492027521133423, 1.559281349182129, -1.3010224103927612, -1.5196079015731812, -0.029267629608511925, 0.029267629608511925, 0.533875048160553, -0.7452124953269958, 0.4808499217033386, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6666285395622253, -1.9327458143234253, 1.8484398126602173, 1.559281349182129, -1.2998778820037842, -1.5203708410263062, -0.02909301407635212, 0.02909301407635212, 0.533875048160553, -0.7459754347801208, 0.4808499217033386, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6666285395622253, -1.9331272840499878, 1.8465323448181152, 1.5588998794555664, -1.2983520030975342, -1.5203708410263062, -0.028917664662003517, 0.028917664662003517, 0.533875048160553, -0.7467383742332458, 0.4808499217033386, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6666285395622253, -1.9335087537765503, 1.8438620567321777, 1.559281349182129, -1.2968261241912842, -1.5211337804794312, -0.028908416628837585, 0.028908416628837585, 0.533875048160553, -0.7467383742332458, 0.4808499217033386, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6658655405044556, -1.9331272840499878, 1.8430991172790527, 1.5588998794555664, -1.2960631847381592, -1.5222781896591187, -0.028908416628837585, 0.028908416628837585, 0.533875048160553, -0.7467383742332458, 0.4808499217033386, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.9300755262374878, 1.8446249961853027, 1.559281349182129, -1.2972075939178467, -1.5222781896591187, -0.028899164870381355, 0.028899164870381355, 0.533875048160553, -0.7467383742332458, 0.4808499217033386, -1.483367681503296, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6624323129653931, -1.9148164987564087, 1.8522545099258423, 1.575303316116333, -1.3002593517303467, -1.5226596593856812, -0.028899164870381355, 0.028899164870381355, 0.533875048160553, -0.7467383742332458, 0.4808499217033386, -1.483367681503296, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6616693139076233, -1.896124243736267, 1.8602654933929443, 1.5897992849349976, -1.3010224103927612, -1.5222781896591187, -0.028899164870381355, 0.028899164870381355, 0.533875048160553, -0.7467383742332458, 0.481612890958786, -1.483367681503296, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.656710147857666, -1.8671320676803589, 1.8747615814208984, 1.5939955711364746, -1.3014038801193237, -1.5222781896591187, -0.028899164870381355, 0.028899164870381355, 0.533875048160553, -0.7467383742332458, 0.483138769865036, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6448844075202942, -1.8347066640853882, 1.896124243736267, 1.6111619472503662, -1.3094148635864258, -1.5222781896591187, -0.028889913111925125, 0.028889913111925125, 0.533875048160553, -0.7467383742332458, 0.4839017391204834, -1.483367681503296, 0.9073395729064941, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6300068497657776, -1.796177625656128, 1.9361791610717773, 1.6599907875061035, -1.3448920249938965, -1.5218967199325562, -0.028889913111925125, 0.028889913111925125, 0.533875048160553, -0.7467383742332458, 0.4846646785736084, -1.483367681503296, 0.9073395729064941, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5971999764442444, -1.739719271659851, 1.966315746307373, 1.7160677909851074, -1.405928134918213, -1.5215152502059937, -0.028880657628178596, 0.028880657628178596, 0.5342565178871155, -0.7467383742332458, 0.4858091175556183, -1.483367681503296, 0.9077210426330566, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5342565178871155, -1.658846378326416, 1.9731823205947876, 1.7595559358596802, -1.4608606100082397, -1.5218967199325562, -0.02887140028178692, 0.02887140028178692, 0.5342565178871155, -0.7467383742332458, 0.4861905872821808, -1.4829862117767334, 0.9073395729064941, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44575417041778564, -1.5581368207931519, 1.954871416091919, 1.7809185981750488, -1.5005340576171875, -1.5238040685653687, -0.02884361892938614, 0.02884361892938614, 0.534637987613678, -0.7467383742332458, 0.4861905872821808, -1.483367681503296, 0.9077210426330566, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3385595381259918, -1.4547569751739502, 1.9068055152893066, 1.796177625656128, -1.5280003547668457, -1.5276188850402832, -0.02884361892938614, 0.02884361892938614, 0.5357823967933655, -0.7467383742332458, 0.4861905872821808, -1.483367681503296, 0.9077210426330566, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23708705604076385, -1.3593881130218506, 1.8278400897979736, 1.80724036693573, -1.5409704446792603, -1.5310521125793457, -0.02884361892938614, 0.02884361892938614, 0.536926805973053, -0.7486457824707031, 0.4858091175556183, -1.4829862117767334, 0.9073395729064941, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15964750945568085, -1.28385591506958, 1.720263957977295, 1.806477427482605, -1.5409704446792603, -1.5310521125793457, -0.02884361892938614, 0.02884361892938614, 0.5380712747573853, -0.7513160705566406, 0.4858091175556183, -1.4829862117767334, 0.9073395729064941, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11272602528333664, -1.2289234399795532, 1.6172655820846558, 1.8083847761154175, -1.5062562227249146, -1.5310521125793457, -0.02884361892938614, 0.02884361892938614, 0.5403600931167603, -0.7551308274269104, 0.4858091175556183, -1.4829862117767334, 0.9069581031799316, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09021896868944168, -1.2037460803985596, 1.5463111400604248, 1.8045700788497925, -1.4768825769424438, -1.5310521125793457, -0.02884361892938614, 0.02884361892938614, 0.54264897108078, -0.7578011751174927, 0.4858091175556183, -1.482604742050171, 0.9073395729064941, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07610437273979187, -1.19916832447052, 1.505111813545227, 1.7942702770233154, -1.4505608081817627, -1.5310521125793457, -0.02884361892938614, 0.02884361892938614, 0.5449378490447998, -0.7593270540237427, 0.4858091175556183, -1.482604742050171, 0.9073395729064941, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0722896158695221, -1.2037460803985596, 1.484130620956421, 1.7843518257141113, -1.429198145866394, -1.5310521125793457, -0.02884361892938614, 0.02884361892938614, 0.5464637279510498, -0.760471522808075, 0.4839017391204834, -1.482604742050171, 0.9077210426330566, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07343403995037079, -1.2151904106140137, 1.4734493494033813, 1.7801556587219238, -1.418898344039917, -1.5310521125793457, -0.028834354132413864, 0.028834354132413864, 0.5479896068572998, -0.7608529925346375, 0.4827573001384735, -1.482604742050171, 0.9077210426330566, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08030059933662415, -1.2293049097061157, 1.4673457145690918, 1.7801556587219238, -1.407454013824463, -1.5310521125793457, -0.028834354132413864, 0.028834354132413864, 0.5483710765838623, -0.7616159319877625, 0.482375830411911, -1.481078863143921, 0.9073395729064941, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08869306743144989, -1.2422751188278198, 1.4650568962097168, 1.7767223119735718, -1.3975356817245483, -1.5310521125793457, -0.028834354132413864, 0.028834354132413864, 0.5483710765838623, -0.7650492191314697, 0.483138769865036, -1.481078863143921, 0.9073395729064941, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09327077120542526, -1.2571526765823364, 1.4631494283676147, 1.7759593725204468, -1.3902876377105713, -1.5310521125793457, -0.028834354132413864, 0.028834354132413864, 0.5483710765838623, -0.767719566822052, 0.4839017391204834, -1.4814603328704834, 0.9073395729064941, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09441519528627396, -1.270504355430603, 1.4616235494613647, 1.7763408422470093, -1.3864728212356567, -1.5310521125793457, -0.028834354132413864, 0.028834354132413864, 0.5483710765838623, -0.7696269154548645, 0.4842832088470459, -1.4814603328704834, 0.9073395729064941, 1.5348668098449707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09403372555971146, -1.2788968086242676, 1.4620050191879272, 1.7763408422470093, -1.3788433074951172, -1.5310521125793457, -0.02884361892938614, 0.02884361892938614, 0.5483710765838623, -0.7703898549079895, 0.4842832088470459, -1.481841802597046, 0.9073395729064941, 1.5344853401184082, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09060044586658478, -1.2834744453430176, 1.4620050191879272, 1.7763408422470093, -1.3742656707763672, -1.5310521125793457, -0.02884361892938614, 0.02884361892938614, 0.5483710765838623, -0.7711527943611145, 0.4842832088470459, -1.4837491512298584, 0.9073395729064941, 1.5344853401184082, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08602273464202881, -1.2872892618179321, 1.4620050191879272, 1.7763408422470093, -1.3700693845748901, -1.5310521125793457, -0.028834354132413864, 0.028834354132413864, 0.5483710765838623, -0.7726787328720093, 0.4842832088470459, -1.483367681503296, 0.9073395729064941, 1.5341038703918457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08220797777175903, -1.2888151407241821, 1.4616235494613647, 1.7763408422470093, -1.3639658689498901, -1.5310521125793457, -0.029212569817900658, 0.029212569817900658, 0.5483710765838623, -0.7753490209579468, 0.4850461483001709, -1.483367681503296, 0.9069581031799316, 1.5333409309387207, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07648584991693497, -1.2891966104507446, 1.4616235494613647, 1.7763408422470093, -1.361295461654663, -1.5310521125793457, -0.030155958607792854, 0.030155958607792854, 0.5483710765838623, -0.7768749594688416, 0.4850461483001709, -1.483367681503296, 0.9073395729064941, 1.5306706428527832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.071908138692379, -1.2895780801773071, 1.4612420797348022, 1.7763408422470093, -1.360532522201538, -1.5310521125793457, -0.03253815323114395, 0.03253815323114395, 0.5483710765838623, -0.778019368648529, 0.4850461483001709, -1.483367681503296, 0.9073395729064941, 1.5306706428527832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06923781335353851, -1.2895780801773071, 1.4620050191879272, 1.7763408422470093, -1.360532522201538, -1.5310521125793457, -0.03336801007390022, 0.03336801007390022, 0.5483710765838623, -0.778019368648529, 0.4850461483001709, -1.4829862117767334, 0.9077210426330566, 1.5306706428527832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07000076025724411, -1.2876707315444946, 1.4745937585830688, 1.7763408422470093, -1.360532522201538, -1.5310521125793457, -0.03368896245956421, 0.03368896245956421, 0.5483710765838623, -0.778019368648529, 0.4850461483001709, -1.4829862117767334, 0.9081025123596191, 1.5306706428527832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08373387902975082, -1.2747005224227905, 1.5108338594436646, 1.7786297798156738, -1.360532522201538, -1.5352483987808228, -0.03368896245956421, 0.03368896245956421, 0.5483710765838623, -0.778019368648529, 0.4850461483001709, -1.482604742050171, 0.9092469811439514, 1.5306706428527832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12798504531383514, -1.256008267402649, 1.5642404556274414, 1.7889295816421509, -1.360532522201538, -1.5463111400604248, -0.033758677542209625, 0.033758677542209625, 0.5483710765838623, -0.778019368648529, 0.4850461483001709, -1.481078863143921, 0.9096284508705139, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19398032128810883, -1.2430380582809448, 1.6165026426315308, 1.8236438035964966, -1.3609139919281006, -1.563096046447754, -0.034, 0.034, 0.5483710765838623, -0.778019368648529, 0.4858091175556183, -1.481078863143921, 0.9100099205970764, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.26836803555488586, -1.2422751188278198, 1.6481651067733765, 1.8373769521713257, -1.3609139919281006, -1.5844587087631226, -0.034, 0.034, 0.5483710765838623, -0.7784008383750916, 0.4861905872821808, -1.481078863143921, 0.9100099205970764, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33321890234947205, -1.259060025215149, 1.6504539251327515, 1.8255512714385986, -1.3601510524749756, -1.6016250848770142, -0.034, 0.034, 0.5483710765838623, -0.778782308101654, 0.4869535267353058, -1.481078863143921, 0.9100099205970764, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.38166627287864685, -1.280041217803955, 1.6268024444580078, 1.817158818244934, -1.3601510524749756, -1.6329060792922974, -0.03358779475092888, 0.03358779475092888, 0.5483710765838623, -0.778782308101654, 0.4869535267353058, -1.481078863143921, 0.9100099205970764, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.422102689743042, -1.2930114269256592, 1.5756847858428955, 1.7973220348358154, -1.334973692893982, -1.660753846168518, -0.03157420828938484, 0.03157420828938484, 0.5483710765838623, -0.7803082466125488, 0.4880979657173157, -1.481078863143921, 0.9100099205970764, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44346532225608826, -1.3002593517303467, 1.511215329170227, 1.735522985458374, -1.27927827835083, -1.6767758131027222, -0.02726173587143421, 0.02726173587143421, 0.5483710765838623, -0.7818341255187988, 0.4888609051704407, -1.481078863143921, 0.9103913903236389, 1.5314335823059082, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.45681697130203247, -1.3158998489379883, 1.4406423568725586, 1.6519798040390015, -1.204127550125122, -1.6878385543823242, -0.024319669231772423, 0.024319669231772423, 0.5483710765838623, -0.7822155952453613, 0.49000534415245056, -1.4799343347549438, 0.9100099205970764, 1.5314335823059082, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4701686203479767, -1.3521400690078735, 1.3933393955230713, 1.5859845876693726, -1.1579689979553223, -1.6939421892166138, -0.023358015343546867, 0.023358015343546867, 0.5483710765838623, -0.7822155952453613, 0.49000534415245056, -1.4768825769424438, 0.9100099205970764, 1.5318150520324707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4873350262641907, -1.403639316558838, 1.3670176267623901, 1.5424963235855103, -1.1301213502883911, -1.6989012956619263, -0.022552013397216797, 0.022552013397216797, 0.5483710765838623, -0.7822155952453613, 0.4888609051704407, -1.4761196374893188, 0.9100099205970764, 1.5341038703918457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5052643418312073, -1.4578088521957397, 1.354810357093811, 1.5199893712997437, -1.1137179136276245, -1.7095826864242554, -0.022143522277474403, 0.022143522277474403, 0.5483710765838623, -0.7822155952453613, 0.4877164959907532, -1.4757381677627563, 0.9100099205970764, 1.5341038703918457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5251010656356812, -1.508926510810852, 1.352521538734436, 1.5062562227249146, -1.1064698696136475, -1.71797513961792, -0.022143522277474403, 0.022143522277474403, 0.5483710765838623, -0.7822155952453613, 0.4861905872821808, -1.4730678796768188, 0.9100099205970764, 1.5337224006652832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5437933802604675, -1.5516518354415894, 1.3593881130218506, 1.496337890625, -1.0999847650527954, -1.7271305322647095, -0.021944211795926094, 0.021944211795926094, 0.5483710765838623, -0.7822155952453613, 0.4858091175556183, -1.4730678796768188, 0.9096284508705139, 1.5337224006652832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5571450591087341, -1.587891936302185, 1.3715953826904297, 1.4932860136032104, -1.0969328880310059, -1.736285924911499, -0.021087469533085823, 0.021087469533085823, 0.5483710765838623, -0.7825970649719238, 0.4858091175556183, -1.4730678796768188, 0.9096284508705139, 1.5337224006652832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5670633912086487, -1.6180285215377808, 1.3868544101715088, 1.490615725517273, -1.0942625999450684, -1.7454413175582886, -0.020580125972628593, 0.020580125972628593, 0.5483710765838623, -0.7825970649719238, 0.4858091175556183, -1.4730678796768188, 0.9092469811439514, 1.5333409309387207, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5750743746757507, -1.642824411392212, 1.4013503789901733, 1.4875638484954834, -1.0919737815856934, -1.7545968294143677, -0.020580125972628593, 0.020580125972628593, 0.5483710765838623, -0.7829785346984863, 0.4865720570087433, -1.4730678796768188, 0.9088655114173889, 1.5325779914855957, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5804150700569153, -1.6634241342544556, 1.4127947092056274, 1.487182378768921, -1.0919737815856934, -1.7618448734283447, -0.020570186898112297, 0.020570186898112297, 0.5483710765838623, -0.7833600640296936, 0.4869535267353058, -1.4730678796768188, 0.9069581031799316, 1.5306706428527832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5823224186897278, -1.6817349195480347, 1.4223315715789795, 1.4875638484954834, -1.0919737815856934, -1.7645151615142822, -0.019657770171761513, 0.019657770171761513, 0.5483710765838623, -0.7841230034828186, 0.4869535267353058, -1.4730678796768188, 0.9065766334533691, 1.5306706428527832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5827038884162903, -1.6973754167556763, 1.4303425550460815, 1.487182378768921, -1.0919737815856934, -1.7687113285064697, -0.01919357106089592, 0.01919357106089592, 0.5483710765838623, -0.7845044732093811, 0.4869535267353058, -1.4730678796768188, 0.9054322242736816, 1.5306706428527832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5811780095100403, -1.7107270956039429, 1.4368276596069336, 1.487182378768921, -1.0919737815856934, -1.7713817358016968, -0.018564198166131973, 0.018564198166131973, 0.5483710765838623, -0.7852674126625061, 0.4873350262641907, -1.4730678796768188, 0.9039062857627869, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5758373141288757, -1.7206454277038574, 1.4414052963256836, 1.487182378768921, -1.0919737815856934, -1.7717632055282593, -0.018534783273935318, 0.018534783273935318, 0.5483710765838623, -0.7864118218421936, 0.4873350262641907, -1.4730678796768188, 0.9027618765830994, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5716410875320435, -1.729037880897522, 1.4452201128005981, 1.4875638484954834, -1.0915923118591309, -1.7717632055282593, -0.017220795154571533, 0.017220795154571533, 0.5483710765838623, -0.7887006998062134, 0.4880979657173157, -1.4730678796768188, 0.9019989371299744, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.571259617805481, -1.7366673946380615, 1.4482718706130981, 1.487945318222046, -1.0919737815856934, -1.7717632055282593, -0.01706647127866745, 0.01706647127866745, 0.5483710765838623, -0.7909895181655884, 0.4892423748970032, -1.4730678796768188, 0.9016174674034119, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5708781480789185, -1.743533968925476, 1.4501793384552002, 1.487945318222046, -1.0919737815856934, -1.7721446752548218, -0.015233880840241909, 0.015233880840241909, 0.5483710765838623, -0.7944228053092957, 0.49114975333213806, -1.4730678796768188, 0.8993285894393921, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5678263306617737, -1.7484931945800781, 1.4517052173614502, 1.488326907157898, -1.0919737815856934, -1.7721446752548218, -0.015056703239679337, 0.015056703239679337, 0.5483710765838623, -0.7963302135467529, 0.49191272258758545, -1.4730678796768188, 0.8989471197128296, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5647745728492737, -1.7511634826660156, 1.4528496265411377, 1.4894713163375854, -1.0919737815856934, -1.7721446752548218, -0.013762728311121464, 0.013762728311121464, 0.5483710765838623, -0.7970931529998779, 0.49191272258758545, -1.4730678796768188, 0.8985656499862671, 1.5310521125793457, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5636301040649414, -1.7530708312988281, 1.4528496265411377, 1.491378664970398, -1.0919737815856934, -1.7721446752548218, -0.012754722498357296, 0.012754722498357296, 0.5483710765838623, -0.7986190319061279, 0.49229419231414795, -1.4730678796768188, 0.8985656499862671, 1.5314335823059082, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5624856948852539, -1.7542153596878052, 1.4528496265411377, 1.492141604423523, -1.0919737815856934, -1.7721446752548218, -0.012728339061141014, 0.012728339061141014, 0.5483710765838623, -0.8001449704170227, 0.49343863129615784, -1.4730678796768188, 0.8981841802597046, 1.5314335823059082, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5601968169212341, -1.7542153596878052, 1.4528496265411377, 1.4982452392578125, -1.0923552513122559, -1.7721446752548218, -0.011418790556490421, 0.011418790556490421, 0.5483710765838623, -0.8009079098701477, 0.49420157074928284, -1.4730678796768188, 0.8978027105331421, 1.5314335823059082, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5582894682884216, -1.7542153596878052, 1.4528496265411377, 1.4997711181640625, -1.0923552513122559, -1.7725261449813843, -0.010546925477683544, 0.010546925477683544, 0.5483710765838623, -0.8020523190498352, 0.4953460097312927, -1.4730678796768188, 0.8974212408065796, 1.5318150520324707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5582894682884216, -1.7542153596878052, 1.4524681568145752, 1.500152587890625, -1.0923552513122559, -1.7725261449813843, -0.009026685729622841, 0.009026685729622841, 0.5483710765838623, -0.802815318107605, 0.4957274794578552, -1.4730678796768188, 0.8970397710800171, 1.5318150520324707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5590524077415466, -1.7542153596878052, 1.4520866870880127, 1.503204345703125, -1.0923552513122559, -1.7721446752548218, -0.008054166100919247, 0.008054166100919247, 0.5483710765838623, -0.802815318107605, 0.4957274794578552, -1.4730678796768188, 0.8962767720222473, 1.5318150520324707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5594338774681091, -1.7542153596878052, 1.4509422779083252, 1.503204345703125, -1.0923552513122559, -1.7721446752548218, -0.007156668696552515, 0.007156668696552515, 0.5483710765838623, -0.802815318107605, 0.4957274794578552, -1.4730678796768188, 0.8958953022956848, 1.5318150520324707, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5601968169212341, -1.7542153596878052, 1.4494163990020752, 1.503204345703125, -1.0923552513122559, -1.7721446752548218, -0.006569894962012768, 0.006569894962012768, 0.5483710765838623, -0.802815318107605, 0.4957274794578552, -1.4730678796768188, 0.8962767720222473, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5601968169212341, -1.7542153596878052, 1.4478904008865356, 1.503204345703125, -1.0923552513122559, -1.7721446752548218, -0.0064430925995111465, 0.0064430925995111465, 0.5483710765838623, -0.802815318107605, 0.4953460097312927, -1.4730678796768188, 0.8958953022956848, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5605783462524414, -1.7542153596878052, 1.4463645219802856, 1.503204345703125, -1.0923552513122559, -1.7721446752548218, -0.006456391420215368, 0.006456391420215368, 0.5483710765838623, -0.802815318107605, 0.49496451020240784, -1.4730678796768188, 0.8958953022956848, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5605783462524414, -1.7542153596878052, 1.4448386430740356, 1.503204345703125, -1.0923552513122559, -1.7721446752548218, -0.006456391420215368, 0.006456391420215368, 0.5483710765838623, -0.802815318107605, 0.49458304047584534, -1.4730678796768188, 0.8962767720222473, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5605783462524414, -1.7545968294143677, 1.4436942338943481, 1.503204345703125, -1.0919737815856934, -1.7717632055282593, -0.006449740380048752, 0.006449740380048752, 0.5483710765838623, -0.802815318107605, 0.49420157074928284, -1.4730678796768188, 0.8958953022956848, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5605783462524414, -1.7545968294143677, 1.4425498247146606, 1.503204345703125, -1.0915923118591309, -1.7717632055282593, -0.006238407921046019, 0.006238407921046019, 0.5483710765838623, -0.802815318107605, 0.49420157074928284, -1.4730678796768188, 0.8958953022956848, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5605783462524414, -1.7549782991409302, 1.4406423568725586, 1.503204345703125, -1.0912108421325684, -1.7717632055282593, -0.005634434521198273, 0.005634434521198273, 0.5483710765838623, -0.802815318107605, 0.49382010102272034, -1.4726864099502563, 0.8958953022956848, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5605783462524414, -1.7549782991409302, 1.4375905990600586, 1.5039674043655396, -1.0900664329528809, -1.7717632055282593, -0.005091673694550991, 0.005091673694550991, 0.5483710765838623, -0.802815318107605, 0.49382010102272034, -1.4730678796768188, 0.8962767720222473, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5605783462524414, -1.7553597688674927, 1.434920310974121, 1.5039674043655396, -1.0885404348373413, -1.7717632055282593, -0.0049295141361653805, 0.0049295141361653805, 0.5483710765838623, -0.802815318107605, 0.49343863129615784, -1.4726864099502563, 0.8962767720222473, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5605783462524414, -1.7553597688674927, 1.432249903678894, 1.5039674043655396, -1.0881589651107788, -1.7717632055282593, -0.004652101080864668, 0.004652101080864668, 0.5483710765838623, -0.802815318107605, 0.49343863129615784, -1.4730678796768188, 0.8958953022956848, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5601968169212341, -1.7553597688674927, 1.4303425550460815, 1.5039674043655396, -1.0881589651107788, -1.7713817358016968, -0.004199640825390816, 0.004199640825390816, 0.5483710765838623, -0.802815318107605, 0.49343863129615784, -1.4730678796768188, 0.8958953022956848, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5582894682884216, -1.7561227083206177, 1.4295796155929565, 1.5035858154296875, -1.0885404348373413, -1.7710002660751343, -0.003894781693816185, 0.003894781693816185, 0.5483710765838623, -0.802815318107605, 0.49343863129615784, -1.4726864099502563, 0.8958953022956848, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5582894682884216, -1.7568856477737427, 1.430724024772644, 1.507400631904602, -1.0900664329528809, -1.7645151615142822, -0.003894781693816185, 0.003894781693816185, 0.5483710765838623, -0.802815318107605, 0.49343863129615784, -1.4730678796768188, 0.8958953022956848, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5582894682884216, -1.7568856477737427, 1.4368276596069336, 1.516937494277954, -1.0934996604919434, -1.7633707523345947, -0.003894781693816185, 0.003894781693816185, 0.5483710765838623, -0.802815318107605, 0.49343863129615784, -1.4726864099502563, 0.8962767720222473, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5575265288352966, -1.7530708312988281, 1.4475089311599731, 1.5329594612121582, -1.1030365228652954, -1.7599374055862427, -0.003894781693816185, 0.003894781693816185, 0.5483710765838623, -0.8024337887763977, 0.49343863129615784, -1.4726864099502563, 0.8962767720222473, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5518043637275696, -1.737811803817749, 1.4639123678207397, 1.5512703657150269, -1.0992218255996704, -1.7595559358596802, -0.003889314830303192, 0.003889314830303192, 0.5483710765838623, -0.802815318107605, 0.49343863129615784, -1.4726864099502563, 0.8958953022956848, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5514228940010071, -1.7221713066101074, 1.4757381677627563, 1.5516518354415894, -1.0992218255996704, -1.7561227083206177, -0.003889314830303192, 0.003889314830303192, 0.5483710765838623, -0.802815318107605, 0.49420157074928284, -1.4726864099502563, 0.8962767720222473, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.54264897108078, -1.6969939470291138, 1.486419439315796, 1.5535591840744019, -1.0950255393981934, -1.7557412385940552, -0.003894781693816185, 0.003894781693816185, 0.5483710765838623, -0.802815318107605, 0.4961089491844177, -1.4726864099502563, 0.8962767720222473, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.534637987613678, -1.660753846168518, 1.4940489530563354, 1.5642404556274414, -1.0950255393981934, -1.7549782991409302, -0.003889314830303192, 0.003889314830303192, 0.5483710765838623, -0.802815318107605, 0.4980163276195526, -1.4726864099502563, 0.8962767720222473, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -1.6088731288909912, 1.4917601346969604, 1.563096046447754, -1.0954070091247559, -1.7446783781051636, -0.003889314830303192, 0.003889314830303192, 0.5483710765838623, -0.802815318107605, 0.5018310546875, -1.4723048210144043, 0.8966583013534546, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5262455344200134, -1.5321965217590332, 1.4688715934753418, 1.5543221235275269, -1.0931181907653809, -1.7256046533584595, -0.003894781693816185, 0.003894781693816185, 0.5483710765838623, -0.8024337887763977, 0.5106050372123718, -1.4688715934753418, 0.8978027105331421, 1.5321965217590332, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.507553219795227, -1.4272907972335815, 1.412413239479065, 1.4719233512878418, -1.0885404348373413, -1.6760128736495972, -0.003889314830303192, 0.003889314830303192, 0.5479896068572998, -0.8001449704170227, 0.5289158225059509, -1.4604791402816772, 0.8985656499862671, 1.5306706428527832, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4690241813659668, -1.2968261241912842, 1.3040741682052612, 1.3155183792114258, -1.0538262128829956, -1.595902919769287, -0.003889314830303192, 0.003889314830303192, 0.5228122472763062, -0.7982375621795654, 0.5567635893821716, -1.3979171514511108, 0.8981841802597046, 1.4791713953018188, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4091325104236603, -1.1556801795959473, 1.1709392070770264, 1.1095216274261475, -1.0061417818069458, -1.481841802597046, -0.003889314830303192, 0.003889314830303192, 0.45719844102859497, -0.7978560924530029, 0.5830853581428528, -1.2468528747558594, 0.8981841802597046, 1.3643473386764526, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34962233901023865, -1.0240710973739624, 1.0385671854019165, 0.9237430095672607, -0.9767681360244751, -1.3773174285888672, -0.003889314830303192, 0.003889314830303192, 0.3728923499584198, -0.8005264401435852, 0.6086442470550537, -1.058022379875183, 0.9088655114173889, 1.2289234399795532, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3065156042575836, -0.9149690866470337, 0.9252689480781555, 0.8070115447044373, -0.968757152557373, -1.3113222122192383, -0.003889314830303192, 0.003889314830303192, 0.2756160795688629, -0.8192187547683716, 0.6250476837158203, -0.8470664620399475, 0.9573128819465637, 1.0816738605499268, -0.0040878248400986195, 0.0040878248400986195], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2805752754211426, -0.8272297382354736, 0.8260852694511414, 0.7158388495445251, -0.961509108543396, -1.2651636600494385, -0.003889314830303192, 0.003889314830303192, 0.1806286722421646, -0.8600366115570068, 0.6319142580032349, -0.5869001150131226, 1.049248456954956, 0.9199283123016357, -0.007296135649085045, 0.007296135649085045], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.27180132269859314, -0.7696269154548645, 0.7364385724067688, 0.5869001150131226, -0.9763866662979126, -1.201075792312622, -0.003889314830303192, 0.003889314830303192, 0.11272602528333664, -0.925650417804718, 0.6399252414703369, -0.3435187339782715, 1.1701762676239014, 0.7738231420516968, -0.014769000932574272, 0.014769000932574272], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2805752754211426, -0.7368200421333313, 0.6685358881950378, 0.482375830411911, -0.9897382855415344, -1.1480506658554077, -0.003889314830303192, 0.003889314830303192, 0.0715266615152359, -0.9946975111961365, 0.6506065726280212, -0.1684214472770691, 1.283092975616455, 0.6696802973747253, -0.019776521250605583, 0.019776521250605583], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3110933005809784, -0.7196536064147949, 0.6258106231689453, 0.41638055443763733, -1.0034713745117188, -1.1144808530807495, -0.003889314830303192, 0.003889314830303192, 0.04749370738863945, -1.054207682609558, 0.6593804955482483, -0.030708782374858856, 1.3838025331497192, 0.5876630544662476, -0.020113442093133926, 0.020113442093133926], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3419928252696991, -0.7143129706382751, 0.6048294901847839, 0.3717479109764099, -1.0069047212600708, -1.0934996604919434, -0.003889314830303192, 0.003889314830303192, 0.03528648987412453, -1.0931181907653809, 0.6651026010513306, 0.05893797054886818, 1.4513237476348877, 0.5209048390388489, -0.020938169211149216, 0.020938169211149216], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36564430594444275, -0.7219424843788147, 0.5926222801208496, 0.3248264193534851, -1.0069047212600708, -1.0660333633422852, -0.003889314830303192, 0.003889314830303192, 0.02880140393972397, -1.1175326108932495, 0.6677729487419128, 0.11158160120248795, 1.4868009090423584, 0.4808499217033386, -0.021316496655344963, 0.021316496655344963], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3892957866191864, -0.7421606779098511, 0.5903334021568298, 0.28362706303596497, -1.0080491304397583, -1.0408560037612915, -0.003889314830303192, 0.003889314830303192, 0.026512550190091133, -1.1358433961868286, 0.6689173579216003, 0.14591439068317413, 1.5115967988967896, 0.4510948359966278, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41027694940567017, -0.7650492191314697, 0.5971999764442444, 0.25616082549095154, -1.0103379487991333, -1.021400809288025, -0.003889314830303192, 0.003889314830303192, 0.02880140393972397, -1.1495765447616577, 0.6666285395622253, 0.16193637251853943, 1.5234225988388062, 0.4327840209007263, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43087664246559143, -0.7852674126625061, 0.6078813076019287, 0.23861294984817505, -1.0099564790725708, -1.0095750093460083, -0.003889314830303192, 0.003889314830303192, 0.030708782374858856, -1.1625467538833618, 0.6620507836341858, 0.16880293190479279, 1.5306706428527832, 0.4198138415813446, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44804301857948303, -0.8005264401435852, 0.6181811094284058, 0.2302204966545105, -1.0049973726272583, -1.0019454956054688, -0.003889314830303192, 0.003889314830303192, 0.030708782374858856, -1.176279902458191, 0.655947208404541, 0.16918440163135529, 1.5318150520324707, 0.4072251319885254, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4640650153160095, -0.8180742859840393, 0.6280995011329651, 0.22373540699481964, -0.9927901029586792, -0.9985122680664062, -0.003889314830303192, 0.003889314830303192, 0.03376058489084244, -1.189631462097168, 0.6521324515342712, 0.16918440163135529, 1.5341038703918457, 0.39425498247146606, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4892423748970032, -0.8371480703353882, 0.6395437717437744, 0.22182802855968475, -0.9813458323478699, -0.9954604506492615, -0.003889314830303192, 0.003889314830303192, 0.04329747334122658, -1.201075792312622, 0.6509880423545837, 0.16918440163135529, 1.5337224006652832, 0.3854810297489166, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5182345509529114, -0.8623254895210266, 0.656710147857666, 0.21686884760856628, -0.967231273651123, -0.994316041469574, -0.003889314830303192, 0.003889314830303192, 0.05359731614589691, -1.2121385335922241, 0.6540398001670837, 0.16918440163135529, 1.5302891731262207, 0.3770885765552521, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5468451976776123, -0.8916990756988525, 0.6765468716621399, 0.21648737788200378, -0.951972246170044, -0.9920271635055542, -0.003889314830303192, 0.003889314830303192, 0.06198977679014206, -1.2212939262390137, 0.6586175560951233, 0.16918440163135529, 1.5268558263778687, 0.3702220320701599, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5701152086257935, -0.9199283123016357, 0.6956206560134888, 0.21648737788200378, -0.9420538544654846, -0.9912642240524292, -0.003889314830303192, 0.003889314830303192, 0.06542305648326874, -1.2270160913467407, 0.6605249047279358, 0.16918440163135529, 1.5245670080184937, 0.36526283621788025, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5811780095100403, -0.9416723847389221, 0.7101167440414429, 0.21648737788200378, -0.9306095838546753, -0.9878309369087219, -0.003889314830303192, 0.003889314830303192, 0.06847485899925232, -1.2296863794326782, 0.6605249047279358, 0.16918440163135529, 1.5230411291122437, 0.36259251832962036, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5872815847396851, -0.9580758213996887, 0.7215610146522522, 0.21648737788200378, -0.9275577664375305, -0.9840161800384521, -0.003889314830303192, 0.003889314830303192, 0.06923781335353851, -1.2312123775482178, 0.6605249047279358, 0.16956588625907898, 1.5230411291122437, 0.3587777614593506, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5895704627037048, -0.9718089699745178, 0.7295719981193542, 0.21648737788200378, -0.9260318875312805, -0.9805828928947449, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2315938472747803, 0.6605249047279358, 0.17223620414733887, 1.5230411291122437, 0.3557259440422058, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5872815847396851, -0.9832532405853271, 0.7345311641693115, 0.21648737788200378, -0.9199283123016357, -0.9763866662979126, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2319753170013428, 0.6593804955482483, 0.17338064312934875, 1.5230411291122437, 0.3545815348625183, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5819409489631653, -0.9924086332321167, 0.7379644513130188, 0.21648737788200378, -0.9187838435173035, -0.9725719094276428, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2319753170013428, 0.6582360863685608, 0.17681391537189484, 1.5230411291122437, 0.35038527846336365, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5781261920928955, -1.0034713745117188, 0.7425421476364136, 0.21686884760856628, -0.918402373790741, -0.968757152557373, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2319753170013428, 0.6563286781311035, 0.17910276353359222, 1.5230411291122437, 0.34733349084854126, -0.021346377208828926, 0.021346377208828926], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.579270601272583, -1.0187304019927979, 0.7516975402832031, 0.21686884760856628, -0.917639434337616, -0.9657053351402283, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2319753170013428, 0.6563286781311035, 0.1832990050315857, 1.5230411291122437, 0.3404669165611267, -0.02122686617076397, 0.02122686617076397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5872815847396851, -1.0351338386535645, 0.7639048099517822, 0.21648737788200378, -0.917639434337616, -0.962272047996521, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2319753170013428, 0.655184268951416, 0.1836804747581482, 1.5230411291122437, 0.33627068996429443, -0.02121690846979618, 0.02121690846979618], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5975814461708069, -1.051918864250183, 0.7795453071594238, 0.21686884760856628, -0.917639434337616, -0.9611276388168335, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2319753170013428, 0.6525139212608337, 0.1840619444847107, 1.5222781896591187, 0.33169299364089966, -0.02121690846979618, 0.02121690846979618], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6052109599113464, -1.0629816055297852, 0.7902265787124634, 0.21686884760856628, -0.9180209040641785, -0.9588387608528137, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2319753170013428, 0.649462103843689, 0.1840619444847107, 1.516174554824829, 0.3233005404472351, -0.02113724872469902, 0.02113724872469902], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6090257167816162, -1.0694667100906372, 0.7963302135467529, 0.21686884760856628, -0.918402373790741, -0.9584572911262512, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2327382564544678, 0.6456473469734192, 0.18635080754756927, 1.5108338594436646, 0.31757840514183044, -0.01980622671544552, 0.01980622671544552], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6113145351409912, -1.0725184679031372, 0.7997635006904602, 0.21686884760856628, -0.9187838435173035, -0.9588387608528137, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2327382564544678, 0.6433585286140442, 0.18635080754756927, 1.5039674043655396, 0.3122377395629883, -0.018123885616660118, 0.018123885616660118], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6132219433784485, -1.0755703449249268, 0.8012893795967102, 0.21725031733512878, -0.919165313243866, -0.9584572911262512, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2327382564544678, 0.6418325901031494, 0.18596932291984558, 1.4993896484375, 0.3091859221458435, -0.016157345846295357, 0.016157345846295357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.614366352558136, -1.0805294513702393, 0.804341197013855, 0.21725031733512878, -0.919165313243866, -0.9584572911262512, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2327382564544678, 0.6403067111968994, 0.18596932291984558, 1.492141604423523, 0.30422675609588623, -0.015299315564334393, 0.015299315564334393], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.614366352558136, -1.0873960256576538, 0.8081559538841248, 0.21725031733512878, -0.9187838435173035, -0.9584572911262512, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2327382564544678, 0.6383993029594421, 0.18596932291984558, 1.4887083768844604, 0.30270084738731384, -0.014171541668474674, 0.014171541668474674], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.615129292011261, -1.0938811302185059, 0.811589241027832, 0.21725031733512878, -0.919165313243866, -0.9584572911262512, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2327382564544678, 0.6372548937797546, 0.18596932291984558, 1.484893560409546, 0.29888609051704407, -0.01155405305325985, 0.01155405305325985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6158922910690308, -1.0984588861465454, 0.8134965896606445, 0.21763180196285248, -0.9187838435173035, -0.9584572911262512, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2327382564544678, 0.6361104846000671, 0.18596932291984558, 1.4845120906829834, 0.29850462079048157, -0.009103423915803432, 0.009103423915803432], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.615129292011261, -1.1007477045059204, 0.8146410584449768, 0.21992065012454987, -0.918402373790741, -0.9584572911262512, -0.003889314830303192, 0.003889314830303192, 0.07038223743438721, -1.2327382564544678, 0.6353475451469421, 0.18711376190185547, 1.484130620956421, 0.2969787120819092, -0.006637044716626406, 0.006637044716626406], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.614366352558136, -1.102655053138733, 0.8150225281715393, 0.22411687672138214, -0.9172579646110535, -0.9580758213996887, -0.003889314830303192, 0.003889314830303192, 0.0707637146115303, -1.2323567867279053, 0.6334401369094849, 0.18787670135498047, 1.484130620956421, 0.2969787120819092, -0.00510376738384366, 0.00510376738384366], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6139848828315735, -1.1030365228652954, 0.8150225281715393, 0.22449836134910583, -0.9172579646110535, -0.9573128819465637, -0.003889314830303192, 0.003889314830303192, 0.0722896158695221, -1.2323567867279053, 0.6319142580032349, 0.19054703414440155, 1.484130620956421, 0.2973601818084717, -0.00455327657982707, 0.00455327657982707], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6132219433784485, -1.103417992591858, 0.8146410584449768, 0.22487983107566833, -0.9172579646110535, -0.9569314122200012, -0.003889314830303192, 0.003889314830303192, 0.071908138692379, -1.2323567867279053, 0.6307697892189026, 0.19054703414440155, 1.484130620956421, 0.2973601818084717, -0.004222135990858078, 0.004222135990858078], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6132219433784485, -1.103417992591858, 0.8146410584449768, 0.22487983107566833, -0.9172579646110535, -0.9573128819465637, -0.003889314830303192, 0.003889314830303192, 0.071908138692379, -1.2323567867279053, 0.6284809708595276, 0.18978407979011536, 1.4814603328704834, 0.2973601818084717, -0.004222135990858078, 0.004222135990858078], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6109330654144287, -1.1037994623184204, 0.8146410584449768, 0.22449836134910583, -0.9172579646110535, -0.9580758213996887, -0.005268126726150513, 0.005268126726150513, 0.071908138692379, -1.2319753170013428, 0.6246662139892578, 0.18863965570926666, 1.4814603328704834, 0.2962157726287842, -0.00419402401894331, 0.00419402401894331], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6048294901847839, -1.1015106439590454, 0.8157854676246643, 0.21038375794887543, -0.9218356609344482, -0.9584572911262512, -0.01060418225824833, 0.01060418225824833, 0.07000076025724411, -1.2327382564544678, 0.619325578212738, 0.17299915850162506, 1.4585717916488647, 0.2912565767765045, -0.003823930164799094, 0.003823930164799094], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5853742361068726, -1.0938811302185059, 0.8169298768043518, 0.21801327168941498, -0.9233615398406982, -0.9584572911262512, -0.016576828435063362, 0.016576828435063362, 0.07000076025724411, -1.2319753170013428, 0.615129292011261, 0.17872129380702972, 1.4658198356628418, 0.291638046503067, -0.003823930164799094, 0.003823930164799094], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5491340756416321, -1.0728999376296997, 0.8222705721855164, 0.22030213475227356, -0.927176296710968, -0.9584572911262512, -0.018809637054800987, 0.018809637054800987, 0.07038223743438721, -1.2308309078216553, 0.6124590039253235, 0.1836804747581482, 1.4677271842956543, 0.2920195460319519, -0.003823930164799094, 0.003823930164799094], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49191272258758545, -1.034752368927002, 0.8207446336746216, 0.21992065012454987, -0.9500648379325867, -0.9584572911262512, -0.020371487364172935, 0.020371487364172935, 0.07038223743438721, -1.2304493188858032, 0.6113145351409912, 0.1832990050315857, 1.4665827751159668, 0.2927824854850769, -0.003823930164799094, 0.003823930164799094], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4175249934196472, -0.9676127433776855, 0.7867932915687561, 0.22716869413852692, -0.970283031463623, -0.9584572911262512, -0.020878467708826065, 0.020878467708826065, 0.07000076025724411, -1.2304493188858032, 0.6258106231689453, 0.17910276353359222, 1.4505608081817627, 0.2950713336467743, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.344663143157959, -0.8936064839363098, 0.727664589881897, 0.25501641631126404, -0.9813458323478699, -0.9584572911262512, -0.021724974736571312, 0.021724974736571312, 0.06351567804813385, -1.2285419702529907, 0.6769283413887024, 0.14476996660232544, 1.3975356817245483, 0.2954528033733368, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2801937758922577, -0.813878059387207, 0.6467918157577515, 0.2775234580039978, -0.9859235286712646, -0.9584572911262512, -0.02173493802547455, 0.02173493802547455, 0.05283436179161072, -1.2090867757797241, 0.7513160705566406, 0.0864042118191719, 1.2865263223648071, 0.308041512966156, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24280919134616852, -0.7421606779098511, 0.5735484957695007, 0.2931639552116394, -0.9927901029586792, -0.9584572911262512, -0.021724974736571312, 0.021724974736571312, 0.0394827201962471, -1.1640726327896118, 0.813115119934082, 0.02841992862522602, 1.104943871498108, 0.31757840514183044, -0.003823930164799094, 0.003823930164799094], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.230601966381073, -0.6929503083229065, 0.5296788215637207, 0.3099488914012909, -0.995078980922699, -0.9588387608528137, -0.021715009585022926, 0.021715009585022926, 0.032616160809993744, -1.1152437925338745, 0.8600366115570068, -0.04596780240535736, 0.8859769701957703, 0.32520791888237, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2290760725736618, -0.6605249047279358, 0.5018310546875, 0.3225375711917877, -0.9962233901023865, -0.9584572911262512, -0.021715009585022926, 0.021715009585022926, 0.021553369238972664, -1.0923552513122559, 0.892080545425415, -0.13065537810325623, 0.7040131092071533, 0.33360037207603455, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2298390120267868, -0.6448844075202942, 0.4869535267353058, 0.33054855465888977, -0.9962233901023865, -0.9584572911262512, -0.021715009585022926, 0.021715009585022926, 0.001716639962978661, -1.0965514183044434, 0.9107728600502014, -0.19169145822525024, 0.5807965397834778, 0.3370336592197418, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2302204966545105, -0.6357290148735046, 0.47741663455963135, 0.33436331152915955, -0.9962233901023865, -0.9584572911262512, -0.021715009585022926, 0.021715009585022926, -0.01773861236870289, -1.1205843687057495, 0.9203097820281982, -0.2294575423002243, 0.4957274794578552, 0.3385595381259918, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.230601966381073, -0.6315327882766724, 0.4724574685096741, 0.3374151289463043, -0.9962233901023865, -0.9584572911262512, -0.021715009585022926, 0.021715009585022926, -0.02994582988321781, -1.1530098915100098, 0.926413357257843, -0.25120165944099426, 0.44155794382095337, 0.3404669165611267, -0.003823930164799094, 0.003823930164799094], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.230601966381073, -0.6288624405860901, 0.4705500900745392, 0.3377965986728668, -0.9962233901023865, -0.9584572911262512, -0.021715009585022926, 0.021715009585022926, -0.0398641936480999, -1.1835278272628784, 0.9267948269844055, -0.2637903392314911, 0.41103988885879517, 0.33436331152915955, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.230601966381073, -0.6277180314064026, 0.4697871506214142, 0.3381780683994293, -0.9962233901023865, -0.9584572911262512, -0.021715009585022926, 0.021715009585022926, -0.04482337832450867, -1.2071794271469116, 0.9203097820281982, -0.27065691351890564, 0.3927290737628937, 0.3236820101737976, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2302204966545105, -0.6273365616798401, 0.4694056510925293, 0.3385595381259918, -0.9962233901023865, -0.9584572911262512, -0.021715009585022926, 0.021715009585022926, -0.04940108209848404, -1.2197680473327637, 0.9084840416908264, -0.273708701133728, 0.38281071186065674, 0.31605249643325806, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22640573978424072, -0.6273365616798401, 0.4694056510925293, 0.3400854468345642, -0.995841920375824, -0.9584572911262512, -0.021715009585022926, 0.021715009585022926, -0.050164032727479935, -1.2243458032608032, 0.890554666519165, -0.2775234580039978, 0.3770885765552521, 0.3099488914012909, -0.003823930164799094, 0.003823930164799094], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22144655883312225, -0.6269550919532776, 0.4694056510925293, 0.3408484160900116, -0.995841920375824, -0.9588387608528137, -0.021724974736571312, 0.021724974736571312, -0.05092698708176613, -1.2243458032608032, 0.8699550032615662, -0.2817196846008301, 0.3736552894115448, 0.30270084738731384, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2149614691734314, -0.6269550919532776, 0.4694056510925293, 0.3404669165611267, -0.995841920375824, -0.9588387608528137, -0.021715009585022926, 0.021715009585022926, -0.05207141116261482, -1.2197680473327637, 0.8512626886367798, -0.29888609051704407, 0.369840532541275, 0.29888609051704407, -0.003818499157205224, 0.003818499157205224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21038375794887543, -0.6269550919532776, 0.4694056510925293, 0.3404669165611267, -0.9954604506492615, -0.9584572911262512, -0.021715009585022926, 0.021715009585022926, -0.05207141116261482, -1.2117570638656616, 0.8344777822494507, -0.3229190409183502, 0.3694590628147125, 0.2977416515350342, -0.004335272591561079, 0.004335272591561079], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20733195543289185, -0.6269550919532776, 0.4690241813659668, 0.3404669165611267, -0.9954604506492615, -0.9588387608528137, -0.021715009585022926, 0.021715009585022926, -0.05207141116261482, -1.1972609758377075, 0.8165484070777893, -0.3381780683994293, 0.3694590628147125, 0.2958342730998993, -0.009703385643661022, 0.009703385643661022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20618753135204315, -0.6273365616798401, 0.4686427116394043, 0.3400854468345642, -0.9954604506492615, -0.9588387608528137, -0.021715009585022926, 0.021715009585022926, -0.05207141116261482, -1.178568720817566, 0.7970931529998779, -0.34580758213996887, 0.36907759308815, 0.2962157726287842, -0.019114715978503227, 0.019114715978503227], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20275425910949707, -0.6284809708595276, 0.4686427116394043, 0.3400854468345642, -0.9954604506492615, -0.9588387608528137, -0.021724974736571312, 0.021724974736571312, -0.05207141116261482, -1.1549172401428223, 0.7761120200157166, -0.35000380873680115, 0.3706035017967224, 0.29850462079048157, -0.021455954760313034, 0.021455954760313034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -0.6326771974563599, 0.4686427116394043, 0.3397039771080017, -0.9954604506492615, -0.9588387608528137, -0.022033903747797012, 0.022033903747797012, -0.05207141116261482, -1.119439959526062, 0.7543678879737854, -0.3534370958805084, 0.3736552894115448, 0.29926756024360657, -0.021455954760313034, 0.021455954760313034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19130998849868774, -0.6483176946640015, 0.47894254326820374, 0.3400854468345642, -0.9954604506492615, -0.9588387608528137, -0.02531423792243004, 0.02531423792243004, -0.05207141116261482, -1.0599298477172852, 0.7383459210395813, -0.3561074137687683, 0.3778515160083771, 0.30384528636932373, -0.021455954760313034, 0.021455954760313034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18902114033699036, -0.7028687000274658, 0.5399786233901978, 0.4076066315174103, -0.9954604506492615, -0.9935530424118042, -0.027041560038924217, 0.027041560038924217, -0.05207141116261482, -0.9836347103118896, 0.7318608164787292, -0.3561074137687683, 0.3999771177768707, 0.3217746317386627, -0.02143603004515171, 0.02143603004515171], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21877622604370117, -0.7940413355827332, 0.6509880423545837, 0.5865186452865601, -0.995841920375824, -1.0900664329528809, -0.028331222012639046, 0.028331222012639046, -0.05054550990462303, -0.9103913903236389, 0.7314793467521667, -0.38014039397239685, 0.464446485042572, 0.3854810297489166, -0.013998438604176044, 0.013998438604176044], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.264934778213501, -0.9103913903236389, 0.7921339869499207, 0.8207446336746216, -0.9969863295555115, -1.2224383354187012, -0.02853686362504959, 0.02853686362504959, -0.02384222112596035, -0.8543145060539246, 0.7227054238319397, -0.44460976123809814, 0.5445563197135925, 0.4736018776893616, -0.003944101743400097, 0.003944101743400097], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3072785437107086, -1.034752368927002, 0.9306095838546753, 1.036659836769104, -0.997367799282074, -1.342221736907959, -0.030075272545218468, 0.030075272545218468, 0.03299763426184654, -0.8085374236106873, 0.692568838596344, -0.536163866519928, 0.5975814461708069, 0.5846112966537476, -7.833624295017216e-06, 7.833624295017216e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3377965986728668, -1.1625467538833618, 1.0603113174438477, 1.204890489578247, -1.0046159029006958, -1.4326313734054565, -0.03034348227083683, 0.03034348227083683, 0.11005569249391556, -0.7776378989219666, 0.6525139212608337, -0.649462103843689, 0.6399252414703369, 0.7177462577819824, -7.833624295017216e-06, 7.833624295017216e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.361066609621048, -1.272030234336853, 1.1610208749771118, 1.3498512506484985, -1.038185715675354, -1.5093079805374146, -0.031930629163980484, 0.031930629163980484, 0.19054703414440155, -0.7608529925346375, 0.6090257167816162, -0.7639048099517822, 0.6834134459495544, 0.8508812189102173, -7.833624295017216e-06, 7.833624295017216e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3755626678466797, -1.3632028102874756, 1.2338826656341553, 1.4513237476348877, -1.0629816055297852, -1.5619516372680664, -0.031939055770635605, 0.031939055770635605, 0.2580682039260864, -0.7497901916503906, 0.5670633912086487, -0.8470664620399475, 0.7211795449256897, 0.9485389590263367, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3850995600223541, -1.428435206413269, 1.272793173789978, 1.5135042667388916, -1.0786221027374268, -1.5909438133239746, -0.031939055770635605, 0.031939055770635605, 0.308041512966156, -0.7417792081832886, 0.5312047004699707, -0.9019989371299744, 0.7448310256004333, 1.0168230533599854, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39463645219802856, -1.4772640466690063, 1.2926298379898071, 1.5444037914276123, -1.0862516164779663, -1.6069657802581787, -0.03190533444285393, 0.03190533444285393, 0.3370336592197418, -0.7383459210395813, 0.5128938555717468, -0.9298466444015503, 0.7581826448440552, 1.0515373945236206, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4026474356651306, -1.5157930850982666, 1.3033112287521362, 1.572632908821106, -1.0896848440170288, -1.6165026426315308, -0.03190533444285393, 0.03190533444285393, 0.35114824771881104, -0.7368200421333313, 0.5086976289749146, -0.9557870030403137, 0.76276034116745, 1.0732814073562622, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4087510406970978, -1.5455482006072998, 1.3094148635864258, 1.5932326316833496, -1.0923552513122559, -1.6222248077392578, -0.03190533444285393, 0.03190533444285393, 0.3591592311859131, -0.7387273907661438, 0.5132753252983093, -0.9771496057510376, 0.769245445728302, 1.0820554494857788, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4175249934196472, -1.5684367418289185, 1.3162813186645508, 1.6012436151504517, -1.0934996604919434, -1.6256580352783203, -0.03190533444285393, 0.03190533444285393, 0.36335545778274536, -0.7478827834129333, 0.5201418995857239, -0.9893568158149719, 0.769245445728302, 1.0816738605499268, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42668038606643677, -1.5897992849349976, 1.3250553607940674, 1.6062028408050537, -1.0931181907653809, -1.6279468536376953, -0.031913768500089645, 0.031913768500089645, 0.36564430594444275, -0.7658121585845947, 0.5266270041465759, -0.996604859828949, 0.7696269154548645, 1.0759518146514893, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4373617172241211, -1.6107804775238037, 1.336499571800232, 1.6130692958831787, -1.0931181907653809, -1.6290913820266724, -0.031922198832035065, 0.031922198832035065, 0.36717021465301514, -0.7841230034828186, 0.5315861701965332, -1.0000381469726562, 0.7703898549079895, 1.0664149522781372, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44651713967323303, -1.6294728517532349, 1.346799373626709, 1.6130692958831787, -1.0934996604919434, -1.6290913820266724, -0.031922198832035065, 0.031922198832035065, 0.36717021465301514, -0.7982375621795654, 0.5357823967933655, -1.0038528442382812, 0.770008385181427, 1.0595483779907227, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4510948359966278, -1.6451133489608765, 1.354047417640686, 1.6126878261566162, -1.0927367210388184, -1.6290913820266724, -0.031922198832035065, 0.031922198832035065, 0.36755168437957764, -0.8073930144309998, 0.5395971536636353, -1.0038528442382812, 0.7696269154548645, 1.054970622062683, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4499503970146179, -1.6577019691467285, 1.358243703842163, 1.6130692958831787, -1.0927367210388184, -1.6294728517532349, -0.03190533444285393, 0.03190533444285393, 0.368314653635025, -0.812352180480957, 0.5415045619010925, -1.0065232515335083, 0.7696269154548645, 1.051155924797058, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44384679198265076, -1.6657129526138306, 1.359769582748413, 1.6130692958831787, -1.0931181907653809, -1.6298543214797974, -0.031178325414657593, 0.031178325414657593, 0.368314653635025, -0.8154039978981018, 0.5422675013542175, -1.0065232515335083, 0.7688639760017395, 1.047722578048706, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4396505653858185, -1.6702907085418701, 1.360532522201538, 1.6130692958831787, -1.0931181907653809, -1.6321431398391724, -0.02942322939634323, 0.02942322939634323, 0.368314653635025, -0.8180742859840393, 0.5430304408073425, -1.0065232515335083, 0.7688639760017395, 1.047722578048706, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4369802474975586, -1.6741054058074951, 1.359769582748413, 1.6130692958831787, -1.0931181907653809, -1.6329060792922974, -0.025968806818127632, 0.025968806818127632, 0.368314653635025, -0.8196002244949341, 0.5437933802604675, -1.0065232515335083, 0.7681010365486145, 1.0473411083221436, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4358358085155487, -1.6783016920089722, 1.355954885482788, 1.6130692958831787, -1.0927367210388184, -1.636720895767212, -0.0241515152156353, 0.0241515152156353, 0.368314653635025, -0.8211261034011841, 0.54417484998703, -1.0065232515335083, 0.7665750980377197, 1.0465781688690186, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4354543387889862, -1.6817349195480347, 1.3513771295547485, 1.6126878261566162, -1.0931181907653809, -1.640535593032837, -0.022940319031476974, 0.022940319031476974, 0.368314653635025, -0.8215075731277466, 0.54417484998703, -1.0061417818069458, 0.7616159319877625, 1.0458152294158936, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4335469603538513, -1.6840238571166992, 1.3471808433532715, 1.6111619472503662, -1.0931181907653809, -1.641298532485962, -0.020749147981405258, 0.020749147981405258, 0.368314653635025, -0.8218890428543091, 0.54417484998703, -1.0061417818069458, 0.7612344622612, 1.044670820236206, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43163958191871643, -1.6847867965698242, 1.3448920249938965, 1.6035324335098267, -1.0931181907653809, -1.643587350845337, -0.01773424819111824, 0.01773424819111824, 0.368314653635025, -0.8218890428543091, 0.54417484998703, -1.0061417818069458, 0.7612344622612, 1.044670820236206, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43125811219215393, -1.6851682662963867, 1.343747615814209, 1.6004806756973267, -1.0923552513122559, -1.643587350845337, -0.014759749174118042, 0.014759749174118042, 0.368314653635025, -0.8218890428543091, 0.54417484998703, -1.0061417818069458, 0.7608529925346375, 1.0450522899627686, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42858776450157166, -1.6851682662963867, 1.342984676361084, 1.593614101409912, -1.0923552513122559, -1.643587350845337, -0.012040942907333374, 0.012040942907333374, 0.368314653635025, -0.8218890428543091, 0.54417484998703, -1.0061417818069458, 0.7608529925346375, 1.0450522899627686, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42515450716018677, -1.6851682662963867, 1.3433661460876465, 1.590562343597412, -1.0927367210388184, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.368314653635025, -0.8218890428543091, 0.54417484998703, -1.0061417818069458, 0.7608529925346375, 1.0450522899627686, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4205767810344696, -1.6798275709152222, 1.3483253717422485, 1.591325283050537, -1.0950255393981934, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.368314653635025, -0.8218890428543091, 0.54417484998703, -1.0061417818069458, 0.760471522808075, 1.0450522899627686, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41676202416419983, -1.6584649085998535, 1.3632028102874756, 1.5939955711364746, -1.0942625999450684, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.368314653635025, -0.8218890428543091, 0.54417484998703, -1.0061417818069458, 0.760471522808075, 1.0450522899627686, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41485464572906494, -1.6157397031784058, 1.3948653936386108, 1.593614101409912, -1.0950255393981934, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.368314653635025, -0.8218890428543091, 0.54417484998703, -1.0061417818069458, 0.760471522808075, 1.045433759689331, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4076066315174103, -1.5585182905197144, 1.441023826599121, 1.6020065546035767, -1.0969328880310059, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.368314653635025, -0.8218890428543091, 0.5437933802604675, -1.0061417818069458, 0.760471522808075, 1.045433759689331, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3858625292778015, -1.494430422782898, 1.513885736465454, 1.6096360683441162, -1.1182955503463745, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.368314653635025, -0.8218890428543091, 0.54264897108078, -1.0057603120803833, 0.760471522808075, 1.045433759689331, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3435187339782715, -1.4345388412475586, 1.6004806756973267, 1.6481651067733765, -1.1839094161987305, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.368314653635025, -0.8218890428543091, 0.5403600931167603, -1.0046159029006958, 0.760471522808075, 1.045433759689331, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28858625888824463, -1.3738842010498047, 1.6409170627593994, 1.6924163103103638, -1.2434195280075073, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.3686961233615875, -0.8218890428543091, 0.536926805973053, -1.0034713745117188, 0.7600900530815125, 1.045433759689331, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2138170450925827, -1.3075073957443237, 1.6283283233642578, 1.7263675928115845, -1.2781338691711426, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.36907759308815, -0.8218890428543091, 0.533875048160553, -1.0027084350585938, 0.7600900530815125, 1.0458152294158936, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15583276748657227, -1.2563897371292114, 1.5699626207351685, 1.7473487854003906, -1.2998778820037842, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.3694590628147125, -0.8218890428543091, 0.5315861701965332, -0.9996566772460938, 0.760471522808075, 1.0458152294158936, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12378881871700287, -1.2182421684265137, 1.489089846611023, 1.7504005432128906, -1.2979705333709717, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.3713664412498474, -0.8226520419120789, 0.5296788215637207, -0.9988937377929688, 0.760471522808075, 1.0458152294158936, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10471503436565399, -1.198405385017395, 1.4150835275650024, 1.7587929964065552, -1.2762264013290405, -1.643587350845337, -0.011571004986763, 0.011571004986763, 0.3736552894115448, -0.8230335116386414, 0.5289158225059509, -0.9969863295555115, 0.760471522808075, 1.0458152294158936, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09594109654426575, -1.193827748298645, 1.3639658689498901, 1.7614632844924927, -1.2594414949417114, -1.6432058811187744, -0.011571004986763, 0.011571004986763, 0.3767071068286896, -0.8230335116386414, 0.5285343527793884, -0.995841920375824, 0.7608529925346375, 1.046196699142456, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0871671661734581, -1.1957350969314575, 1.3345922231674194, 1.7618448734283447, -1.2449454069137573, -1.6432058811187744, -0.011571004986763, 0.011571004986763, 0.38204777240753174, -0.8230335116386414, 0.5281528830528259, -0.9954604506492615, 0.7642862796783447, 1.0465781688690186, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07648584991693497, -1.2029831409454346, 1.3166629076004028, 1.7633707523345947, -1.2392233610153198, -1.6432058811187744, -0.011571004986763, 0.011571004986763, 0.386243999004364, -0.8230335116386414, 0.5281528830528259, -0.9954604506492615, 0.7681010365486145, 1.0465781688690186, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06694895774126053, -1.2113755941390991, 1.3014038801193237, 1.7660410404205322, -1.2335011959075928, -1.6432058811187744, -0.011571004986763, 0.011571004986763, 0.3881513774394989, -0.8230335116386414, 0.5281528830528259, -0.9954604506492615, 0.768482506275177, 1.0465781688690186, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05703059583902359, -1.2174792289733887, 1.2880522012710571, 1.7660410404205322, -1.2254902124404907, -1.6432058811187744, -0.011571004986763, 0.011571004986763, 0.3889143168926239, -0.8230335116386414, 0.5281528830528259, -0.9954604506492615, 0.769245445728302, 1.0465781688690186, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05092698708176613, -1.2224383354187012, 1.2762264013290405, 1.7668039798736572, -1.2159533500671387, -1.6432058811187744, -0.011732527986168861, 0.011732527986168861, 0.3892957866191864, -0.8234149813652039, 0.5277714133262634, -0.9954604506492615, 0.770771324634552, 1.0465781688690186, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04940108209848404, -1.2273975610733032, 1.269359827041626, 1.7664225101470947, -1.2071794271469116, -1.6432058811187744, -0.016710884869098663, 0.016710884869098663, 0.3900587558746338, -0.8241779208183289, 0.5277714133262634, -0.995078980922699, 0.770771324634552, 1.0465781688690186, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04787518084049225, -1.2315938472747803, 1.2659265995025635, 1.7664225101470947, -1.202601671218872, -1.6432058811187744, -0.02373533323407173, 0.02373533323407173, 0.3900587558746338, -0.8245593905448914, 0.5277714133262634, -0.9954604506492615, 0.770771324634552, 1.0465781688690186, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04711223021149635, -1.2338826656341553, 1.267071008682251, 1.7664225101470947, -1.1949721574783325, -1.6432058811187744, -0.027271291241049767, 0.027271291241049767, 0.3900587558746338, -0.8249408602714539, 0.5277714133262634, -0.995078980922699, 0.770771324634552, 1.0465781688690186, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04406042397022247, -1.2342641353607178, 1.2888151407241821, 1.7660410404205322, -1.185053825378418, -1.6432058811187744, -0.027481110766530037, 0.027481110766530037, 0.3900587558746338, -0.8249408602714539, 0.5277714133262634, -0.995078980922699, 0.770771324634552, 1.046196699142456, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.035667963325977325, -1.2293049097061157, 1.3544288873672485, 1.7671854496002197, -1.1781872510910034, -1.642824411392212, -0.027471590787172318, 0.027471590787172318, 0.3900587558746338, -0.8249408602714539, 0.5277714133262634, -0.995078980922699, 0.770771324634552, 1.0465781688690186, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02880140393972397, -1.2159533500671387, 1.4555199146270752, 1.7698558568954468, -1.1736094951629639, -1.6317616701126099, -0.025343645364046097, 0.025343645364046097, 0.3900587558746338, -0.8249408602714539, 0.5277714133262634, -0.995078980922699, 0.7719157934188843, 1.0465781688690186, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.028038453310728073, -1.1861982345581055, 1.5459296703338623, 1.7706187963485718, -1.1709392070770264, -1.6206988096237183, -0.017307745292782784, 0.017307745292782784, 0.3900587558746338, -0.8249408602714539, 0.5296788215637207, -0.995078980922699, 0.7730602025985718, 1.0465781688690186, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.040245670825242996, -1.1339360475540161, 1.568818211555481, 1.7736705541610718, -1.1705577373504639, -1.6134508848190308, -0.007025225553661585, 0.007025225553661585, 0.3900587558746338, -0.8249408602714539, 0.536926805973053, -0.9954604506492615, 0.7738231420516968, 1.046196699142456, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07343403995037079, -1.047722578048706, 1.5020599365234375, 1.7732890844345093, -1.1610208749771118, -1.6103990077972412, -0.00042922960710711777, 0.00042922960710711777, 0.3900587558746338, -0.8253223299980164, 0.5518043637275696, -0.995841920375824, 0.761997401714325, 1.039711594581604, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12722209095954895, -0.9111543297767639, 1.3311588764190674, 1.744296908378601, -1.0889219045639038, -1.6229877471923828, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.3915846347808838, -0.8207446336746216, 0.577744722366333, -0.995078980922699, 0.7234683632850647, 1.024452567100525, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20618753135204315, -0.7467383742332458, 1.1095216274261475, 1.6699092388153076, -0.9546425342559814, -1.6325246095657349, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.41256579756736755, -0.7894636392593384, 0.5945296287536621, -0.9771496057510376, 0.6403067111968994, 1.0133898258209229, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.31376364827156067, -0.5708781480789185, 0.8661402463912964, 1.5939955711364746, -0.7803082466125488, -1.637483835220337, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.4728389382362366, -0.7196536064147949, 0.5846112966537476, -0.960746169090271, 0.5125123858451843, 1.0042344331741333, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43240252137184143, -0.4064621925354004, 0.6403067111968994, 1.5173189640045166, -0.5952925682067871, -1.6409170627593994, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.5659189820289612, -0.6250476837158203, 0.5445563197135925, -0.9523537158966064, 0.361829549074173, 0.9962233901023865, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.541886031627655, -0.2744716703891754, 0.4537651538848877, 1.4642938375473022, -0.4339284300804138, -1.643587350845337, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.6712062358856201, -0.5285343527793884, 0.47932401299476624, -0.9458686113357544, 0.24204623699188232, 0.995078980922699, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6292439103126526, -0.1970321238040924, 0.3084229826927185, 1.4345388412475586, -0.290112167596817, -1.6439688205718994, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.7585641145706177, -0.4518577754497528, 0.3931105434894562, -0.9382390975952148, 0.15735866129398346, 1.0141527652740479, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6963835954666138, -0.16918440163135529, 0.20580606162548065, 1.4127947092056274, -0.1527809500694275, -1.6439688205718994, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.8295185565948486, -0.4003585875034332, 0.30155640840530396, -0.9145876169204712, 0.06542305648326874, 1.0263599157333374, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7211795449256897, -0.15735866129398346, 0.1516365259885788, 1.3967727422714233, -0.05092698708176613, -1.6439688205718994, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.8661402463912964, -0.36373692750930786, 0.23365376889705658, -0.9000915288925171, -0.007438773289322853, 1.0336079597473145, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7337682247161865, -0.1527809500694275, 0.12226291000843048, 1.3895246982574463, 0.0020981156267225742, -1.6439688205718994, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.8714808821678162, -0.3240634799003601, 0.19207294285297394, -0.8974212408065796, -0.039101243019104004, 1.0336079597473145, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7391088604927063, -0.14400701224803925, 0.10509651154279709, 1.3838025331497192, 0.03490501269698143, -1.6439688205718994, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.8436331748962402, -0.2805752754211426, 0.1653696447610855, -0.9016174674034119, -0.0394827201962471, 1.0362783670425415, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7433050870895386, -0.1337071806192398, 0.09365224838256836, 1.3822766542434692, 0.050164032727479935, -1.6439688205718994, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.8169298768043518, -0.2302204966545105, 0.14019227027893066, -0.9046692848205566, -0.026131074875593185, 1.0408560037612915, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7433050870895386, -0.12340734153985977, 0.08373387902975082, 1.3864728212356567, 0.06046387553215027, -1.6439688205718994, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.8005264401435852, -0.16880293190479279, 0.11081864684820175, -0.9042877554893494, -0.00667582219466567, 1.0652704238891602, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7433050870895386, -0.11043716967105865, 0.07534141838550568, 1.3944838047027588, 0.06427863240242004, -1.6439688205718994, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.7902265787124634, -0.11463340371847153, 0.08182650804519653, -0.9016174674034119, 0.000572213320992887, 1.0877774953842163, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7433050870895386, -0.1039520874619484, 0.07038223743438721, 1.4078354835510254, 0.06580453366041183, -1.6439688205718994, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.7856488823890686, -0.0879301130771637, 0.050164032727479935, -0.9008545279502869, -0.011635004542768002, 1.1022735834121704, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7433050870895386, -0.10204470902681351, 0.06847485899925232, 1.41775381565094, 0.06885633617639542, -1.6439688205718994, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.7829785346984863, -0.071908138692379, 0.03337911143898964, -0.9008545279502869, -0.03452353551983833, 1.1118104457855225, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7478827834129333, -0.10128175467252731, 0.06847485899925232, 1.429961085319519, 0.06885633617639542, -1.6432058811187744, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.7902265787124634, -0.06733043491840363, 0.023460745811462402, -0.9008545279502869, -0.039101243019104004, 1.102655053138733, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.09708552807569504, 0.06847485899925232, 1.4398794174194336, 0.06923781335353851, -1.6248950958251953, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.8230335116386414, -0.061226826161146164, 0.013923857361078262, -0.9016174674034119, -0.05436026677489281, 1.0687037706375122, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7990005612373352, -0.09670405089855194, 0.06198977679014206, 1.4784084558486938, 0.0707637146115303, -1.6054397821426392, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.8588922023773193, -0.06046387553215027, 0.007438773289322853, -0.9046692848205566, -0.06427863240242004, 1.0290303230285645, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8283741474151611, -0.1024261862039566, 0.05207141116261482, 1.5127413272857666, 0.07419699430465698, -1.5947585105895996, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.882543683052063, -0.0558861680328846, 0.0036240178160369396, -0.9046692848205566, -0.07381551712751389, 0.9977492690086365, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.839436948299408, -0.1031891331076622, 0.04253452271223068, 1.5299077033996582, 0.08411535620689392, -1.5901808738708496, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.8955138325691223, -0.054741740226745605, 0.00019073777366429567, -0.9050507545471191, -0.07915617525577545, 0.9817273020744324, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8566033244132996, -0.0879301130771637, 0.02880140393972397, 1.5478370189666748, 0.09250781685113907, -1.5859845876693726, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9046692848205566, -0.02727550081908703, -0.01506828423589468, -0.9054322242736816, -0.0879301130771637, 0.9718089699745178, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8600366115570068, -0.04749370738863945, 0.005912871100008488, 1.5569924116134644, 0.10929274559020996, -1.5836957693099976, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9054322242736816, 0.04100862145423889, -0.045204851776361465, -0.9058136940002441, -0.10852979123592377, 0.9798199534416199, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8577477931976318, -0.000572213320992887, -0.018501564860343933, 1.5611886978149414, 0.12378881871700287, -1.5836957693099976, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9100099205970764, 0.08106355369091034, -0.06466010212898254, -0.9088655114173889, -0.12073700875043869, 0.9916456937789917, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8554589152336121, 0.029182879254221916, -0.03299763426184654, 1.564621925354004, 0.1371404528617859, -1.584840178489685, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9119172692298889, 0.1024261862039566, -0.07419699430465698, -0.9122987985610962, -0.13218127191066742, 0.995841920375824, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, 0.039101243019104004, -0.0394827201962471, 1.577592134475708, 0.13981078565120697, -1.584840178489685, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9122987985610962, 0.11272602528333664, -0.07915617525577545, -0.916876494884491, -0.1356145590543747, 1.0000381469726562, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8718623518943787, 0.042153049260377884, -0.04100862145423889, 1.5875104665756226, 0.14667734503746033, -1.5844587087631226, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9142061471939087, 0.1192111074924469, -0.08106355369091034, -0.9199283123016357, -0.13866636157035828, 1.0027084350585938, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8730067610740662, 0.04100862145423889, -0.040627144277095795, 1.5901808738708496, 0.14667734503746033, -1.58407723903656, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9145876169204712, 0.1199740618467331, -0.08220797777175903, -0.9210727214813232, -0.13904783129692078, 1.0038528442382812, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8741512298583984, 0.03757534176111221, -0.040245670825242996, 1.590562343597412, 0.14705882966518402, -1.58407723903656, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9157320261001587, 0.12073700875043869, -0.08297093212604523, -0.9237430095672607, -0.14057374000549316, 1.0061417818069458, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8756771087646484, 0.03604944050312042, -0.039101243019104004, 1.590562343597412, 0.14820325374603271, -1.58407723903656, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9157320261001587, 0.12226291000843048, -0.08373387902975082, -0.924887478351593, -0.14171816408634186, 1.0061417818069458, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8760585784912109, 0.03490501269698143, -0.038719769567251205, 1.590562343597412, 0.1493476778268814, -1.5836957693099976, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9157320261001587, 0.12302586436271667, -0.08411535620689392, -0.927176296710968, -0.14209964871406555, 1.0061417818069458, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8760585784912109, 0.03452353551983833, -0.038719769567251205, 1.590562343597412, 0.1497291475534439, -1.5836957693099976, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9157320261001587, 0.1203555315732956, -0.08411535620689392, -0.9275577664375305, -0.14209964871406555, 1.0061417818069458, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8760585784912109, 0.03452353551983833, -0.038719769567251205, 1.590562343597412, 0.1497291475534439, -1.5836957693099976, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9157320261001587, 0.11959258466959, -0.08411535620689392, -0.9275577664375305, -0.14209964871406555, 1.0061417818069458, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8760585784912109, 0.03452353551983833, -0.038719769567251205, 1.590562343597412, 0.1497291475534439, -1.583314299583435, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9157320261001587, 0.1192111074924469, -0.08449683338403702, -0.9283207654953003, -0.14209964871406555, 1.0061417818069458, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000017/meta.json b/rc-table30-v2__rc-dos-w1/000017/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..deff56bb9e50c307dcfed8bd9692c6d514dd4c8a
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000017/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Fold the T-shirts and stack them neatly in the upper-left corner of the table.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 9957,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000017/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000017/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..be7ca36a616bd41ab65107a0ec7dcb8a294423ac
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000017/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000019/meta.json b/rc-table30-v2__rc-dos-w1/000019/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82320750fab6b018b37fa267e1b3c55535cc97ad
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000019/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Sweep the trash on the table into the dustpan.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 5552,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000019/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000019/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..97ba0a4fe96cf28ae75ff7920f7594ba2b17c40c
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000019/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000019/temporal.json b/rc-table30-v2__rc-dos-w1/000019/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2714b919fba08620281dd5140f06fad22d256dc
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000019/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6203173398971558, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.563096046447754, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6199358701705933, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5627145767211914, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6176470518112183, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1844434291124344, 0.050164032727479935, -1.5627145767211914, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6176470518112183, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.562333106994629, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6176470518112183, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5619516372680664, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6180285215377808, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.560044288635254, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6180285215377808, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1844434291124344, 0.050164032727479935, -1.560044288635254, -0.04406042397022247, 1.5508888959884644, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6180285215377808, 0.11310750246047974, -1.725986123085022, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5604257583618164, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6184099912643433, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5604257583618164, -0.04444190114736557, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6210802793502808, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5604257583618164, -0.04406042397022247, 1.5505073070526123, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6206988096237183, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5604257583618164, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6206988096237183, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.560807228088379, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6206988096237183, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06237125024199486, -0.021171892061829567, 1.6203173398971558, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.563096046447754, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06313420087099075, -0.021171892061829567, 1.6203173398971558, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.563096046447754, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06351567804813385, -0.02079041674733162, 1.6187914609909058, 0.11310750246047974, -1.7256046533584595, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1844434291124344, 0.050164032727479935, -1.563096046447754, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06389715522527695, -0.02079041674733162, 1.6176470518112183, 0.11310750246047974, -1.725986123085022, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.1832990050315857, 0.050164032727479935, -1.563096046447754, -0.04406042397022247, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.06389715522527695, -0.01926451548933983, 1.6180285215377808, 0.11234454810619354, -1.728274941444397, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.182917520403862, 0.050164032727479935, -1.563096046447754, -0.04482337832450867, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8180742859840393, -0.057793546468019485, 0.0024795911740511656, 1.6180285215377808, 0.09288929402828217, -1.7416266202926636, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.182917520403862, 0.050164032727479935, -1.563096046447754, -0.04482337832450867, 1.5505073070526123, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7883192300796509, -0.04139009863138199, 0.06656748056411743, 1.6187914609909058, 0.02994582988321781, -1.729037880897522, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.182917520403862, 0.050164032727479935, -1.5627145767211914, -0.04482337832450867, 1.5508888959884644, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7070649266242981, -0.03452353551983833, 0.14782176911830902, 1.6206988096237183, -0.07686731964349747, -1.6977568864822388, -9.422883886145428e-05, 9.422883886145428e-05, 0.8783474564552307, -0.182917520403862, 0.050164032727479935, -1.5619516372680664, -0.04444190114736557, 1.5516518354415894, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5804150700569153, -0.02841992862522602, 0.20199130475521088, 1.6206988096237183, -0.15354390442371368, -1.663042664527893, -0.003299340605735779, 0.003299340605735779, 0.8783474564552307, -0.182917520403862, 0.050164032727479935, -1.560044288635254, -0.04444190114736557, 1.5539406538009644, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4396505653858185, -0.03643091395497322, 0.2157244235277176, 1.6203173398971558, -0.17833982408046722, -1.651598334312439, -0.018250884488224983, 0.018250884488224983, 0.8783474564552307, -0.182917520403862, 0.050164032727479935, -1.560044288635254, -0.043678950518369675, 1.5562294721603394, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.308041512966156, -0.06580453366041183, 0.20351719856262207, 1.6203173398971558, -0.15506981313228607, -1.6489280462265015, -0.02355668507516384, 0.02355668507516384, 0.8783474564552307, -0.182917520403862, 0.050164032727479935, -1.560044288635254, -0.043678950518369675, 1.5569924116134644, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1985580176115036, -0.11654078215360641, 0.1802472025156021, 1.6203173398971558, -0.08983749151229858, -1.649309515953064, -0.026974396780133247, 0.026974396780133247, 0.8783474564552307, -0.182917520403862, 0.050164032727479935, -1.5604257583618164, -0.04329747334122658, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11615930497646332, -0.17948424816131592, 0.15506981313228607, 1.6176470518112183, -0.004386968910694122, -1.6618982553482056, -0.028415454551577568, 0.028415454551577568, 0.8783474564552307, -0.1825360506772995, 0.050164032727479935, -1.5604257583618164, -0.04329747334122658, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06618601083755493, -0.25196459889411926, 0.1329442262649536, 1.6180285215377808, 0.09327077120542526, -1.6783016920089722, -0.028415454551577568, 0.028415454551577568, 0.8783474564552307, -0.1825360506772995, 0.050164032727479935, -1.5604257583618164, -0.04329747334122658, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.039101243019104004, -0.33131152391433716, 0.1184481605887413, 1.6180285215377808, 0.18825818598270416, -1.6947051286697388, -0.028415454551577568, 0.028415454551577568, 0.8783474564552307, -0.1825360506772995, 0.050164032727479935, -1.5604257583618164, -0.04329747334122658, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01888304017484188, -0.41447317600250244, 0.11081864684820175, 1.6191729307174683, 0.28591591119766235, -1.72255277633667, -0.02854618988931179, 0.02854618988931179, 0.8783474564552307, -0.1825360506772995, 0.050164032727479935, -1.5604257583618164, -0.04329747334122658, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.005149920005351305, -0.49153125286102295, 0.10967422276735306, 1.6206988096237183, 0.3706035017967224, -1.7561227083206177, -0.030155958607792854, 0.030155958607792854, 0.8783474564552307, -0.182917520403862, 0.050164032727479935, -1.5604257583618164, -0.04329747334122658, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.02880140393972397, -0.571259617805481, 0.1184481605887413, 1.6203173398971558, 0.44384679198265076, -1.7904554605484009, -0.03020964190363884, 0.03020964190363884, 0.8783474564552307, -0.182917520403862, 0.050164032727479935, -1.5604257583618164, -0.04291599988937378, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04139009863138199, -0.6498435735702515, 0.14095520973205566, 1.6203173398971558, 0.49382010102272034, -1.8102922439575195, -0.03020964190363884, 0.03020964190363884, 0.8783474564552307, -0.182917520403862, 0.050164032727479935, -1.560807228088379, -0.04253452271223068, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04787518084049225, -0.726138710975647, 0.17147326469421387, 1.6203173398971558, 0.5312047004699707, -1.8198291063308716, -0.03020964190363884, 0.03020964190363884, 0.8783474564552307, -0.1836804747581482, 0.050164032727479935, -1.560807228088379, -0.04253452271223068, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.051689937710762024, -0.7974746227264404, 0.20618753135204315, 1.6199358701705933, 0.5609598159790039, -1.8270771503448486, -0.03020964190363884, 0.03020964190363884, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.560807228088379, -0.04291599988937378, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -0.8653773069381714, 0.2447165697813034, 1.6180285215377808, 0.579270601272583, -1.8308918476104736, -0.03020964190363884, 0.03020964190363884, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.560807228088379, -0.04253452271223068, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05397878959774971, -0.9237430095672607, 0.2790493667125702, 1.6180285215377808, 0.5880445837974548, -1.8308918476104736, -0.03020964190363884, 0.03020964190363884, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.04253452271223068, 1.559281349182129, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.054741740226745605, -0.9779125452041626, 0.31452658772468567, 1.6184099912643433, 0.5933852195739746, -1.8297474384307861, -0.03020964190363884, 0.03020964190363884, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.04253452271223068, 1.5596628189086914, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.054741740226745605, -1.0225452184677124, 0.34809643030166626, 1.6195544004440308, 0.5987258553504944, -1.817921757698059, -0.03020964190363884, 0.03020964190363884, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.04253452271223068, 1.560044288635254, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.054741740226745605, -1.0595483779907227, 0.38128480315208435, 1.6206988096237183, 0.6002517938613892, -1.8068588972091675, -0.03020964190363884, 0.03020964190363884, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.04253452271223068, 1.563096046447754, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.054741740226745605, -1.0866330862045288, 0.41065841913223267, 1.6203173398971558, 0.6017776727676392, -1.7942702770233154, -0.03020964190363884, 0.03020964190363884, 0.8783474564552307, -0.1844434291124344, 0.050164032727479935, -1.5611886978149414, -0.042153049260377884, 1.563096046447754, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.054741740226745605, -1.1022735834121704, 0.43240252137184143, 1.6203173398971558, 0.6040665507316589, -1.7843518257141113, -0.03020964190363884, 0.03020964190363884, 0.8783474564552307, -0.1844434291124344, 0.050164032727479935, -1.5611886978149414, -0.042153049260377884, 1.5627145767211914, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04711223021149635, -1.109140157699585, 0.44422826170921326, 1.6172655820846558, 0.6055924296379089, -1.7702373266220093, -0.030191756784915924, 0.030191756784915924, 0.8783474564552307, -0.1844434291124344, 0.050164032727479935, -1.5611886978149414, -0.042153049260377884, 1.5627145767211914, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.028038453310728073, -1.1118104457855225, 0.4503318965435028, 1.6180285215377808, 0.6067368388175964, -1.7515449523925781, -0.030182810500264168, 0.030182810500264168, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.042153049260377884, 1.563096046447754, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.008201723918318748, -1.11295485496521, 0.4522392749786377, 1.6180285215377808, 0.6071183085441589, -1.7313268184661865, -0.030102187767624855, 0.030102187767624855, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.042153049260377884, 1.563096046447754, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -1.110666036605835, 0.4507133662700653, 1.6184099912643433, 0.6067368388175964, -1.71950101852417, -0.029505355283617973, 0.029505355283617973, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.042153049260377884, 1.563096046447754, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03032730519771576, -1.1095216274261475, 0.4495689272880554, 1.6210802793502808, 0.6059738993644714, -1.7042419910430908, -0.02909301407635212, 0.02909301407635212, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.04177157208323479, 1.563096046447754, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04291599988937378, -1.113336443901062, 0.4518577754497528, 1.6210802793502808, 0.6044480204582214, -1.6893644332885742, -0.028936157003045082, 0.028936157003045082, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.04177157208323479, 1.563096046447754, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04901960864663124, -1.124399185180664, 0.46177613735198975, 1.6210802793502808, 0.6010147333145142, -1.6813534498214722, -0.028648653998970985, 0.028648653998970985, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.04177157208323479, 1.563096046447754, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05245288833975792, -1.1362248659133911, 0.4720759987831116, 1.6210802793502808, 0.5960555672645569, -1.6752498149871826, -0.02620207518339157, 0.02620207518339157, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.04177157208323479, 1.5634775161743164, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05436026677489281, -1.1453803777694702, 0.4808499217033386, 1.6210802793502808, 0.5968185067176819, -1.6741054058074951, -0.02472439408302307, 0.02472439408302307, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.5611886978149414, -0.04139009863138199, 1.5634775161743164, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05664911866188049, -1.1514838933944702, 0.4869535267353058, 1.6203173398971558, 0.6010147333145142, -1.6748683452606201, -0.021874453872442245, 0.021874453872442245, 0.8783474564552307, -0.18520638346672058, 0.050164032727479935, -1.5611886978149414, -0.04139009863138199, 1.5634775161743164, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05893797054886818, -1.1583504676818848, 0.49191272258758545, 1.6203173398971558, 0.6006332635879517, -1.6760128736495972, -0.01719183474779129, 0.01719183474779129, 0.8783474564552307, -0.18520638346672058, 0.050164032727479935, -1.5611886978149414, -0.04139009863138199, 1.563858985900879, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06198977679014206, -1.1629282236099243, 0.4964904189109802, 1.6199358701705933, 0.5952925682067871, -1.6828793287277222, -0.009782470762729645, 0.009782470762729645, 0.8783474564552307, -0.18520638346672058, 0.050164032727479935, -1.5611886978149414, -0.04177157208323479, 1.566147804260254, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07305257022380829, -1.1617838144302368, 0.4991607666015625, 1.6184099912643433, 0.5888075232505798, -1.6882200241088867, -0.004989334847778082, 0.004989334847778082, 0.8783474564552307, -0.18673227727413177, 0.050164032727479935, -1.5611886978149414, -0.04177157208323479, 1.566529393196106, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09098191559314728, -1.1503394842147827, 0.5052643418312073, 1.6180285215377808, 0.5739299654960632, -1.6874570846557617, -0.004989334847778082, 0.004989334847778082, 0.8783474564552307, -0.18673227727413177, 0.050164032727479935, -1.5611886978149414, -0.04177157208323479, 1.5669108629226685, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10929274559020996, -1.1297398805618286, 0.5178530812263489, 1.6214618682861328, 0.54264897108078, -1.6695277690887451, -0.004989334847778082, 0.004989334847778082, 0.8783474564552307, -0.18673227727413177, 0.050164032727479935, -1.5611886978149414, -0.04139009863138199, 1.5691996812820435, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12188144028186798, -1.0908293724060059, 0.54112309217453, 1.6210802793502808, 0.4999237060546875, -1.654268741607666, -0.004989334847778082, 0.004989334847778082, 0.8783474564552307, -0.18673227727413177, 0.050164032727479935, -1.560807228088379, -0.04139009863138199, 1.571107029914856, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.135233074426651, -1.0320820808410645, 0.5796520709991455, 1.6203173398971558, 0.4518577754497528, -1.645494818687439, -0.004989334847778082, 0.004989334847778082, 0.8783474564552307, -0.18673227727413177, 0.050164032727479935, -1.560807228088379, -0.04139009863138199, 1.571107029914856, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16231784224510193, -0.9630350470542908, 0.6326771974563599, 1.6199358701705933, 0.386243999004364, -1.6309987306594849, -0.004989334847778082, 0.004989334847778082, 0.8783474564552307, -0.18635080754756927, 0.050164032727479935, -1.560807228088379, -0.04139009863138199, 1.571107029914856, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21152819693088531, -0.8928435444831848, 0.6879911422729492, 1.6180285215377808, 0.31567102670669556, -1.6138323545455933, -0.004989334847778082, 0.004989334847778082, 0.8783474564552307, -0.18635080754756927, 0.050164032727479935, -1.5611886978149414, -0.04139009863138199, 1.5714884996414185, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28629741072654724, -0.8321889042854309, 0.7307164072990417, 1.6180285215377808, 0.24090181291103363, -1.6016250848770142, -0.004989334847778082, 0.004989334847778082, 0.8783474564552307, -0.18596932291984558, 0.050164032727479935, -1.560807228088379, -0.04139009863138199, 1.5714884996414185, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3759441375732422, -0.7913710474967957, 0.7562752962112427, 1.6191729307174683, 0.17719538509845734, -1.592851161956787, -0.004989334847778082, 0.004989334847778082, 0.8783474564552307, -0.1848248988389969, 0.050164032727479935, -1.560807228088379, -0.04139009863138199, 1.571869969367981, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46177613735198975, -0.7803082466125488, 0.7631418108940125, 1.6195544004440308, 0.13179980218410492, -1.593614101409912, -0.004989334847778082, 0.004989334847778082, 0.8779659867286682, -0.182917520403862, 0.05283436179161072, -1.560807228088379, -0.03795681521296501, 1.571869969367981, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5323491096496582, -0.7986190319061279, 0.7501716613769531, 1.6206988096237183, 0.13027389347553253, -1.593614101409912, -0.004989334847778082, 0.004989334847778082, 0.8722438216209412, -0.17147326469421387, 0.08449683338403702, -1.5611886978149414, -0.027656977996230125, 1.570344090461731, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5842298269271851, -0.8363851308822632, 0.7154573798179626, 1.6206988096237183, 0.20275425910949707, -1.587891936302185, -0.004989334847778082, 0.004989334847778082, 0.8112077713012695, -0.1661325991153717, 0.15392538905143738, -1.563096046447754, 0.020027466118335724, 1.5669108629226685, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6235218048095703, -0.8867399096488953, 0.6826505064964294, 1.6203173398971558, 0.30308231711387634, -1.579118013381958, -0.004989334847778082, 0.004989334847778082, 0.6593804955482483, -0.20771344006061554, 0.2576867341995239, -1.5627145767211914, 0.15430685877799988, 1.6020065546035767, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.656710147857666, -0.9439612627029419, 0.6673914790153503, 1.6203173398971558, 0.3896772861480713, -1.5714884996414185, -0.004989334847778082, 0.004989334847778082, 0.45796138048171997, -0.31452658772468567, 0.3717479109764099, -1.5627145767211914, 0.35114824771881104, 1.6107804775238037, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.692568838596344, -1.0027084350585938, 0.6658655405044556, 1.6008621454238892, 0.4495689272880554, -1.5402075052261353, -0.004983340390026569, 0.004983340390026569, 0.2931639552116394, -0.47474631667137146, 0.4808499217033386, -1.563096046447754, 0.534637987613678, 1.570344090461731, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7513160705566406, -1.0595483779907227, 0.6750209927558899, 1.441023826599121, 0.5216678380966187, -1.3715953826904297, -0.004983340390026569, 0.004983340390026569, 0.20160982012748718, -0.647173285484314, 0.5739299654960632, -1.5627145767211914, 0.6399252414703369, 1.5230411291122437, -0.004495519213378429, 0.004495519213378429], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7990005612373352, -1.103417992591858, 0.6857023239135742, 1.3052185773849487, 0.5819409489631653, -1.2281605005264282, -0.004989334847778082, 0.004989334847778082, 0.1516365259885788, -0.8318074345588684, 0.6670100092887878, -1.562333106994629, 0.7001983523368835, 1.489852786064148, -0.020014284178614616, 0.020014284178614616], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8245593905448914, -1.1289769411087036, 0.6948577165603638, 1.2239643335342407, 0.6002517938613892, -1.1499580144882202, -0.004983340390026569, 0.004983340390026569, 0.12302586436271667, -1.0118639469146729, 0.7669565677642822, -1.5619516372680664, 0.7402533292770386, 1.4669642448425293, -0.0271469596773386, 0.0271469596773386], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8398184180259705, -1.1381323337554932, 0.6960021257400513, 1.1812390089035034, 0.6082627773284912, -1.1087586879730225, -0.004983340390026569, 0.004983340390026569, 0.10891126841306686, -1.1446174383163452, 0.8497368097305298, -1.5604257583618164, 0.7524605393409729, 1.4559013843536377, -0.028321852907538414, 0.028321852907538414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8470664620399475, -1.1385138034820557, 0.689517080783844, 1.1579689979553223, 0.6101701259613037, -1.0942625999450684, -0.004983340390026569, 0.004983340390026569, 0.10051880776882172, -1.2415121793746948, 0.916876494884491, -1.5596628189086914, 0.7589455842971802, 1.4494163990020752, -0.028321852907538414, 0.028321852907538414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -1.1346989870071411, 0.6834134459495544, 1.1419470310211182, 0.6109330654144287, -1.0866330862045288, -0.004983340390026569, 0.004983340390026569, 0.08525978773832321, -1.3143739700317383, 0.967994213104248, -1.5310521125793457, 0.7581826448440552, 1.4353017807006836, -0.028312483802437782, 0.028312483802437782], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, -1.1305028200149536, 0.6792172193527222, 1.1346989870071411, 0.6109330654144287, -1.0809109210968018, -0.004983340390026569, 0.004983340390026569, 0.07267109304666519, -1.3670176267623901, 0.9985122680664062, -1.4845120906829834, 0.7478827834129333, 1.4158464670181274, -0.028321852907538414, 0.028321852907538414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8543145060539246, -1.1255435943603516, 0.6750209927558899, 1.1297398805618286, 0.6113145351409912, -1.0801479816436768, -0.004983340390026569, 0.004983340390026569, 0.06733043491840363, -1.4021133184432983, 1.0141527652740479, -1.4574273824691772, 0.7322422862052917, 1.405928134918213, -0.028321852907538414, 0.028321852907538414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8550774455070496, -1.1198214292526245, 0.6704432964324951, 1.1278324127197266, 0.6124590039253235, -1.0790035724639893, -0.004983340390026569, 0.004983340390026569, 0.06313420087099075, -1.429198145866394, 1.0236896276474, -1.439497947692871, 0.7131685614585876, 1.3982986211776733, -0.028321852907538414, 0.028321852907538414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -1.114862322807312, 0.6658655405044556, 1.126688003540039, 0.6116960644721985, -1.0767147541046143, -0.004983340390026569, 0.004983340390026569, 0.06084534898400307, -1.4490348100662231, 1.027885913848877, -1.4318684339523315, 0.699053943157196, 1.3918135166168213, -0.028303110972046852, 0.028303110972046852], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -1.10990309715271, 0.6601434350013733, 1.1263065338134766, 0.6116960644721985, -1.0759518146514893, -0.004983340390026569, 0.004983340390026569, 0.05970092490315437, -1.4639123678207397, 1.0305562019348145, -1.425764799118042, 0.6891355514526367, 1.3853284120559692, -0.028274985030293465, 0.028274985030293465], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -1.1053253412246704, 0.655947208404541, 1.125162124633789, 0.612077534198761, -1.0732814073562622, -0.004983340390026569, 0.004983340390026569, 0.059319447726011276, -1.4734493494033813, 1.0313191413879395, -1.4215686321258545, 0.6792172193527222, 1.3807507753372192, -0.0275096632540226, 0.0275096632540226], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -1.104180932044983, 0.6540398001670837, 1.1240177154541016, 0.6116960644721985, -1.0725184679031372, -0.004983340390026569, 0.004983340390026569, 0.05855649709701538, -1.481078863143921, 1.0320820808410645, -1.421187162399292, 0.6719691753387451, 1.3735027313232422, -0.02588116005063057, 0.02588116005063057], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -1.104180932044983, 0.6525139212608337, 1.124399185180664, 0.6116960644721985, -1.0690852403640747, -0.004983340390026569, 0.004983340390026569, 0.057793546468019485, -1.4909971952438354, 1.0320820808410645, -1.4208056926727295, 0.6658655405044556, 1.3658732175827026, -0.0241515152156353, 0.0241515152156353], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8554589152336121, -1.1022735834121704, 0.650225043296814, 1.124399185180664, 0.6113145351409912, -1.0603113174438477, -0.004983340390026569, 0.004983340390026569, 0.058175019919872284, -1.50091552734375, 1.0320820808410645, -1.418135404586792, 0.6555657386779785, 1.3593881130218506, -0.018613241612911224, 0.018613241612911224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8543145060539246, -1.101129174232483, 0.648699164390564, 1.124399185180664, 0.6113145351409912, -1.053444743156433, -0.004983340390026569, 0.004983340390026569, 0.058175019919872284, -1.5062562227249146, 1.0328450202941895, -1.4166094064712524, 0.6437399983406067, 1.351758599281311, -0.01206678431481123, 0.01206678431481123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8543145060539246, -1.1030365228652954, 0.648699164390564, 1.1247806549072266, 0.6113145351409912, -1.0496299266815186, -0.004983340390026569, 0.004983340390026569, 0.05893797054886818, -1.503204345703125, 1.032463550567627, -1.41775381565094, 0.6425955891609192, 1.346799373626709, -0.01210989709943533, 0.01210989709943533], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8543145060539246, -1.1087586879730225, 0.650225043296814, 1.1247806549072266, 0.6113145351409912, -1.046959638595581, -0.004983340390026569, 0.004983340390026569, 0.05893797054886818, -1.4700160026550293, 1.0320820808410645, -1.418135404586792, 0.6456473469734192, 1.3197146654129028, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -1.120202898979187, 0.6540398001670837, 1.125925064086914, 0.6109330654144287, -1.0610742568969727, -0.004983340390026569, 0.004983340390026569, 0.057793546468019485, -1.415464997291565, 1.0320820808410645, -1.3776988983154297, 0.6658655405044556, 1.1919203996658325, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -1.1423285007476807, 0.6589990258216858, 1.204127550125122, 0.613603413105011, -1.1495765447616577, -0.004983340390026569, 0.004983340390026569, 0.04139009863138199, -1.355954885482788, 1.0320820808410645, -1.2972075939178467, 0.7299534678459167, 0.9863049983978271, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7753490209579468, -1.180094599723816, 0.6727321147918701, 1.3601510524749756, 0.6391623020172119, -1.3021668195724487, -0.004983340390026569, 0.004983340390026569, -0.000572213320992887, -1.3109407424926758, 1.0320820808410645, -1.2151904106140137, 0.8390554785728455, 0.7616159319877625, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7345311641693115, -1.2277790307998657, 0.6960021257400513, 1.4646753072738647, 0.649462103843689, -1.3952468633651733, -0.004983340390026569, 0.004983340390026569, -0.050164032727479935, -1.2899595499038696, 1.030174732208252, -1.1614023447036743, 0.9523537158966064, 0.570496678352356, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7021057605743408, -1.2773709297180176, 0.724612832069397, 1.5360113382339478, 0.6639581918716431, -1.4517052173614502, -0.004983340390026569, 0.004983340390026569, -0.07763027399778366, -1.28385591506958, 1.0217822790145874, -1.1572060585021973, 1.0305562019348145, 0.4232471287250519, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6822690367698669, -1.3254368305206299, 0.7520790696144104, 1.581406831741333, 0.6654840707778931, -1.483367681503296, -0.004983340390026569, 0.004983340390026569, -0.09098191559314728, -1.2827115058898926, 1.0114823579788208, -1.1709392070770264, 1.0740443468093872, 0.31948578357696533, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6708247661590576, -1.3670176267623901, 0.7768749594688416, 1.6077287197113037, 0.6715877056121826, -1.5028228759765625, -0.004983340390026569, 0.004983340390026569, -0.09403372555971146, -1.2869077920913696, 1.0049973726272583, -1.1846723556518555, 1.0965514183044434, 0.2573052644729614, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.4002059698104858, 0.7940413355827332, 1.6206988096237183, 0.6715877056121826, -1.515411615371704, -0.004983340390026569, 0.004983340390026569, -0.07648584991693497, -1.2960631847381592, 1.0011825561523438, -1.1957350969314575, 1.10685133934021, 0.22068360447883606, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6624323129653931, -1.4253833293914795, 0.8039597272872925, 1.6290913820266724, 0.6734950542449951, -1.5199893712997437, -0.004983340390026569, 0.004983340390026569, -0.04558632895350456, -1.3101778030395508, 0.9996566772460938, -1.2170977592468262, 1.1072328090667725, 0.1981765478849411, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6605249047279358, -1.4444571733474731, 0.810826301574707, 1.6340504884719849, 0.6761654019355774, -1.5234225988388062, -0.004983340390026569, 0.004983340390026569, -0.026131074875593185, -1.3277256488800049, 0.9996566772460938, -1.2373158931732178, 1.101892113685608, 0.18711376190185547, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6601434350013733, -1.4623864889144897, 0.8161669373512268, 1.6351948976516724, 0.6887540817260742, -1.5238040685653687, -0.004983340390026569, 0.004983340390026569, -0.013923857361078262, -1.347562313079834, 0.9996566772460938, -1.2491416931152344, 1.0984588861465454, 0.1825360506772995, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6601434350013733, -1.4787899255752563, 0.8230335116386414, 1.637483835220337, 0.7028687000274658, -1.5238040685653687, -0.004983340390026569, 0.004983340390026569, -0.005912871100008488, -1.362821340560913, 0.9996566772460938, -1.2529563903808594, 1.0946440696716309, 0.1813916265964508, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6635767221450806, -1.496337890625, 0.8318074345588684, 1.637483835220337, 0.7131685614585876, -1.5230411291122437, -0.004983340390026569, 0.004983340390026569, 0.001716639962978661, -1.3731212615966797, 0.9996566772460938, -1.256771206855774, 1.0870145559310913, 0.1817730963230133, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6761654019355774, -1.5142672061920166, 0.8424887657165527, 1.637483835220337, 0.7166017889976501, -1.5108338594436646, -0.004983340390026569, 0.004983340390026569, 0.01201647985726595, -1.3792248964309692, 1.0000381469726562, -1.2602044343948364, 1.0816738605499268, 0.19092851877212524, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.699053943157196, -1.5287632942199707, 0.8520256280899048, 1.6012436151504517, 0.7173647880554199, -1.4753566980361938, -0.004983340390026569, 0.004983340390026569, 0.023460745811462402, -1.3838025331497192, 1.0046159029006958, -1.2602044343948364, 1.0809109210968018, 0.20084688067436218, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7234683632850647, -1.5390630960464478, 0.8585107326507568, 1.5314335823059082, 0.7200350761413574, -1.4326313734054565, -0.004983340390026569, 0.004983340390026569, 0.03376058489084244, -1.3933393955230713, 1.0160601139068604, -1.2621119022369385, 1.0816738605499268, 0.21725031733512878, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7452124953269958, -1.5482184886932373, 0.8619440197944641, 1.487945318222046, 0.7192721366882324, -1.4024949073791504, -0.004983340390026569, 0.004983340390026569, 0.043678950518369675, -1.4013503789901733, 1.0248340368270874, -1.2716487646102905, 1.0873960256576538, 0.23594263195991516, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.763523280620575, -1.5569924116134644, 0.8657587766647339, 1.4673457145690918, 0.7181277275085449, -1.3868544101715088, -0.004983340390026569, 0.004983340390026569, 0.05741206929087639, -1.4055466651916504, 1.028648853302002, -1.2853819131851196, 1.0885404348373413, 0.2481498420238495, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7825970649719238, -1.5657663345336914, 0.8714808821678162, 1.4551384449005127, 0.7108796834945679, -1.3784618377685547, -0.004983340390026569, 0.004983340390026569, 0.06923781335353851, -1.4078354835510254, 1.030937671661377, -1.2945373058319092, 1.0881589651107788, 0.2576867341995239, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80663001537323, -1.5772106647491455, 0.881780743598938, 1.4475089311599731, 0.699053943157196, -1.3715953826904297, -0.004983340390026569, 0.004983340390026569, 0.07648584991693497, -1.4085984230041504, 1.032463550567627, -1.2994964122772217, 1.0881589651107788, 0.2622644305229187, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8340963125228882, -1.5939955711364746, 0.8985656499862671, 1.4425498247146606, 0.6834134459495544, -1.3677805662155151, -0.004983340390026569, 0.004983340390026569, 0.07953765243291855, -1.4093613624572754, 1.0328450202941895, -1.3029297590255737, 1.0881589651107788, 0.2653162479400635, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8577477931976318, -1.6149767637252808, 0.9199283123016357, 1.4383535385131836, 0.6738765835762024, -1.3704508543014526, -0.004983340390026569, 0.004983340390026569, 0.08182650804519653, -1.4105058908462524, 1.0328450202941895, -1.3059815168380737, 1.0881589651107788, 0.2725642919540405, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8821622133255005, -1.6359578371047974, 0.9428167939186096, 1.4246203899383545, 0.6696802973747253, -1.3834210634231567, -0.004983340390026569, 0.004983340390026569, 0.08258945494890213, -1.4105058908462524, 1.0328450202941895, -1.3063629865646362, 1.0881589651107788, 0.2763790488243103, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9054322242736816, -1.6523613929748535, 0.9660868048667908, 1.3704508543014526, 0.6704432964324951, -1.3799878358840942, -0.004983340390026569, 0.004983340390026569, 0.08335240930318832, -1.4105058908462524, 1.0328450202941895, -1.3067444562911987, 1.0877774953842163, 0.2794308364391327, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.918402373790741, -1.6626611948013306, 0.9843976497650146, 1.3246738910675049, 0.6712062358856201, -1.3860913515090942, -0.004983340390026569, 0.004983340390026569, 0.08297093212604523, -1.4105058908462524, 1.0328450202941895, -1.3067444562911987, 1.0877774953842163, 0.2801937758922577, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.926413357257843, -1.667620301246643, 1.0000381469726562, 1.2911039590835571, 0.6750209927558899, -1.4143205881118774, -0.004977348726242781, 0.004977348726242781, 0.08335240930318832, -1.4105058908462524, 1.0328450202941895, -1.3067444562911987, 1.0877774953842163, 0.2801937758922577, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9309910535812378, -1.6691462993621826, 1.0130083560943604, 1.2403677701950073, 0.6784542798995972, -1.4333943128585815, -0.004983340390026569, 0.004983340390026569, 0.08335240930318832, -1.4105058908462524, 1.0328450202941895, -1.3067444562911987, 1.0870145559310913, 0.2801937758922577, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9332799315452576, -1.6706721782684326, 1.0210193395614624, 1.2052719593048096, 0.6792172193527222, -1.4555199146270752, -0.004977348726242781, 0.004977348726242781, 0.08335240930318832, -1.4101243019104004, 1.0328450202941895, -1.3071259260177612, 1.0866330862045288, 0.2801937758922577, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9348058104515076, -1.6718165874481201, 1.0275044441223145, 1.1835278272628784, 0.6841763854026794, -1.4829862117767334, -0.004977348726242781, 0.004977348726242781, 0.08335240930318832, -1.4101243019104004, 1.0328450202941895, -1.3067444562911987, 1.0862516164779663, 0.2809567451477051, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9355688095092773, -1.6741054058074951, 1.036659836769104, 1.1682689189910889, 0.6898985505104065, -1.5127413272857666, -0.004977348726242781, 0.004977348726242781, 0.08335240930318832, -1.4101243019104004, 1.0328450202941895, -1.3071259260177612, 1.0862516164779663, 0.28362706303596497, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9363317489624023, -1.6786831617355347, 1.0503928661346436, 1.1640726327896118, 0.699816882610321, -1.5356298685073853, -0.004977348726242781, 0.004977348726242781, 0.08335240930318832, -1.4101243019104004, 1.0328450202941895, -1.3067444562911987, 1.0854886770248413, 0.28362706303596497, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9363317489624023, -1.6836423873901367, 1.0648889541625977, 1.1606394052505493, 0.7017242908477783, -1.5527962446212769, -0.004977348726242781, 0.004977348726242781, 0.08335240930318832, -1.4101243019104004, 1.0328450202941895, -1.3067444562911987, 1.0843442678451538, 0.28362706303596497, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9367132186889648, -1.6866941452026367, 1.0778591632843018, 1.1575875282287598, 0.7070649266242981, -1.5722514390945435, -0.004977348726242781, 0.004977348726242781, 0.08335240930318832, -1.4101243019104004, 1.0328450202941895, -1.3067444562911987, 1.0843442678451538, 0.28400853276252747, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9367132186889648, -1.6882200241088867, 1.0858701467514038, 1.1572060585021973, 0.7089722752571106, -1.579880952835083, -0.004977348726242781, 0.004977348726242781, 0.08335240930318832, -1.4101243019104004, 1.0328450202941895, -1.3067444562911987, 1.0843442678451538, 0.28400853276252747, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9367132186889648, -1.6886014938354492, 1.0904479026794434, 1.1572060585021973, 0.7124055624008179, -1.5844587087631226, -0.004977348726242781, 0.004977348726242781, 0.08335240930318832, -1.4101243019104004, 1.0328450202941895, -1.3067444562911987, 1.0843442678451538, 0.28439003229141235, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9363317489624023, -1.6886014938354492, 1.0912108421325684, 1.1572060585021973, 0.7143129706382751, -1.586366057395935, -0.004977348726242781, 0.004977348726242781, 0.08373387902975082, -1.4093613624572754, 1.0328450202941895, -1.3063629865646362, 1.0835813283920288, 0.28706035017967224, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9363317489624023, -1.6813534498214722, 1.0881589651107788, 1.1572060585021973, 0.7169833183288574, -1.568818211555481, -0.004977348726242781, 0.004977348726242781, 0.08373387902975082, -1.4093613624572754, 1.0328450202941895, -1.3052185773849487, 1.0805294513702393, 0.28744181990623474, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9355688095092773, -1.6657129526138306, 1.0755703449249268, 1.1564431190490723, 0.7200350761413574, -1.510452389717102, -0.004977348726242781, 0.004977348726242781, 0.08373387902975082, -1.4093613624572754, 1.0328450202941895, -1.3033112287521362, 1.0801479816436768, 0.28744181990623474, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9298466444015503, -1.637483835220337, 1.0503928661346436, 1.1572060585021973, 0.733386754989624, -1.4253833293914795, -0.004977348726242781, 0.004977348726242781, 0.08373387902975082, -1.408979892730713, 1.0328450202941895, -1.3025482892990112, 1.0801479816436768, 0.28744181990623474, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.916113555431366, -1.6020065546035767, 1.0145342350006104, 1.1568245887756348, 0.7448310256004333, -1.349469780921936, -0.004977348726242781, 0.004977348726242781, 0.08373387902975082, -1.408979892730713, 1.0328450202941895, -1.3025482892990112, 1.0797665119171143, 0.28706035017967224, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -1.5619516372680664, 0.9786755442619324, 1.1572060585021973, 0.7654306888580322, -1.2972075939178467, -0.004977348726242781, 0.004977348726242781, 0.08373387902975082, -1.408979892730713, 1.0328450202941895, -1.3021668195724487, 1.0793850421905518, 0.28744181990623474, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8726252913475037, -1.5295262336730957, 0.9508277773857117, 1.1572060585021973, 0.7745860815048218, -1.2659265995025635, -0.004977348726242781, 0.004977348726242781, 0.08373387902975082, -1.408979892730713, 1.0328450202941895, -1.3021668195724487, 1.0786221027374268, 0.28706035017967224, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.846684992313385, -1.5127413272857666, 0.9325169920921326, 1.1575875282287598, 0.7715343236923218, -1.2403677701950073, -0.004977348726242781, 0.004977348726242781, 0.08373387902975082, -1.408979892730713, 1.031700611114502, -1.3021668195724487, 1.0782406330108643, 0.28782328963279724, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8207446336746216, -1.509689450263977, 0.9218356609344482, 1.1575875282287598, 0.7444495558738708, -1.2262531518936157, -0.004977348726242781, 0.004977348726242781, 0.08373387902975082, -1.4101243019104004, 1.030174732208252, -1.3017853498458862, 1.0793850421905518, 0.30003052949905396, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -1.518463373184204, 0.916113555431366, 1.1575875282287598, 0.7257572412490845, -1.2174792289733887, -0.004977348726242781, 0.004977348726242781, 0.08258945494890213, -1.413939118385315, 1.0267413854599, -1.3017853498458862, 1.0797665119171143, 0.31986725330352783, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7963302135467529, -1.5325779914855957, 0.9153505563735962, 1.1625467538833618, 0.7146944403648376, -1.2121385335922241, -0.004977348726242781, 0.004977348726242781, 0.08220797777175903, -1.420424222946167, 1.0225452184677124, -1.3017853498458862, 1.0786221027374268, 0.34847790002822876, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7879377603530884, -1.5512703657150269, 0.916876494884491, 1.2430380582809448, 0.7001983523368835, -1.255245327949524, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4238574504852295, 1.0202564001083374, -1.3017853498458862, 1.0759518146514893, 0.37937742471694946, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7871748208999634, -1.5684367418289185, 0.9275577664375305, 1.3269627094268799, 0.6921873688697815, -1.2975890636444092, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4253833293914795, 1.0187304019927979, -1.3017853498458862, 1.0748074054718018, 0.4087510406970978, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -1.5852216482162476, 0.9428167939186096, 1.3754100799560547, 0.6731135845184326, -1.3292515277862549, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4265278577804565, 1.0183489322662354, -1.3017853498458862, 1.0736628770828247, 0.4354543387889862, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -1.5997177362442017, 0.9569314122200012, 1.3998245000839233, 0.6612878441810608, -1.351758599281311, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.427672266960144, 1.0183489322662354, -1.3017853498458862, 1.0740443468093872, 0.4545281231403351, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7856488823890686, -1.6107804775238037, 0.9668498039245605, 1.418135404586792, 0.6475547552108765, -1.3735027313232422, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.429198145866394, 1.0183489322662354, -1.3021668195724487, 1.0767147541046143, 0.4667353332042694, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7944228053092957, -1.6176470518112183, 0.9714275002479553, 1.429198145866394, 0.6372548937797546, -1.41470205783844, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4303425550460815, 1.0183489322662354, -1.3021668195724487, 1.0767147541046143, 0.4716945290565491, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8096818327903748, -1.6214618682861328, 0.9740977883338928, 1.433012843132019, 0.6258106231689453, -1.4536125659942627, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.430724024772644, 1.0183489322662354, -1.3021668195724487, 1.0774776935577393, 0.47474631667137146, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8325703740119934, -1.6248950958251953, 0.9794384837150574, 1.4337759017944336, 0.6067368388175964, -1.492904543876648, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4318684339523315, 1.0183489322662354, -1.3021668195724487, 1.0805294513702393, 0.47550925612449646, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8527885675430298, -1.6283283233642578, 0.9893568158149719, 1.4360647201538086, 0.5926222801208496, -1.5444037914276123, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4333943128585815, 1.0183489322662354, -1.3021668195724487, 1.0843442678451538, 0.47856107354164124, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8672846555709839, -1.6325246095657349, 1.0015640258789062, 1.436446189880371, 0.5865186452865601, -1.6039139032363892, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4333943128585815, 1.0183489322662354, -1.3021668195724487, 1.0854886770248413, 0.47856107354164124, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8745326995849609, -1.6371023654937744, 1.0145342350006104, 1.436446189880371, 0.5865186452865601, -1.6702907085418701, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4333943128585815, 1.0183489322662354, -1.3025482892990112, 1.0881589651107788, 0.47856107354164124, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8783474564552307, -1.642061471939087, 1.0255969762802124, 1.4360647201538086, 0.5903334021568298, -1.728274941444397, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4333943128585815, 1.0183489322662354, -1.3025482892990112, 1.0881589651107788, 0.47856107354164124, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8806362748146057, -1.6458762884140015, 1.0351338386535645, 1.4360647201538086, 0.6029220819473267, -1.7687113285064697, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4333943128585815, 1.0183489322662354, -1.3029297590255737, 1.0885404348373413, 0.47856107354164124, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.881780743598938, -1.647783637046814, 1.0416189432144165, 1.434920310974121, 0.620851457118988, -1.798466444015503, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4333943128585815, 1.0183489322662354, -1.3029297590255737, 1.0893033742904663, 0.47817960381507874, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8821622133255005, -1.648546576499939, 1.045433759689331, 1.4353017807006836, 0.6342030763626099, -1.812962532043457, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.433012843132019, 1.0179674625396729, -1.3025482892990112, 1.0912108421325684, 0.47817960381507874, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8821622133255005, -1.6466392278671265, 1.0465781688690186, 1.4353017807006836, 0.6467918157577515, -1.819447636604309, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4326313734054565, 1.0179674625396729, -1.3025482892990112, 1.0904479026794434, 0.47779813408851624, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.881780743598938, -1.6432058811187744, 1.043144941329956, 1.435683250427246, 0.6509880423545837, -1.8183032274246216, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4326313734054565, 1.0175859928131104, -1.3025482892990112, 1.0877774953842163, 0.47741663455963135, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8794918656349182, -1.6336690187454224, 1.0343708992004395, 1.4360647201538086, 0.655947208404541, -1.7889295816421509, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.432249903678894, 1.0160601139068604, -1.3021668195724487, 1.0851072072982788, 0.47474631667137146, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8745326995849609, -1.6199358701705933, 1.022926688194275, 1.4360647201538086, 0.655184268951416, -1.7439154386520386, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.4303425550460815, 1.0118639469146729, -1.3014038801193237, 1.0797665119171143, 0.47398337721824646, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, -1.6008621454238892, 1.0103379487991333, 1.4280537366867065, 0.650225043296814, -1.6763943433761597, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.425001859664917, 1.0008010864257812, -1.2884336709976196, 1.0675593614578247, 0.46330204606056213, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8733882904052734, -1.5787365436553955, 0.9977492690086365, 1.334210753440857, 0.6399252414703369, -1.5444037914276123, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.419661283493042, 0.9870679974555969, -1.273556113243103, 1.050011396408081, 0.4549095928668976, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8749141693115234, -1.5512703657150269, 0.9752422571182251, 1.263256311416626, 0.6399252414703369, -1.4337759017944336, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.413939118385315, 0.9721904397010803, -1.2548638582229614, 1.031700611114502, 0.44766154885292053, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8772030472755432, -1.513122797012329, 0.9409094452857971, 1.2186236381530762, 0.6593804955482483, -1.342221736907959, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.3941023349761963, 0.9424353241920471, -1.2205309867858887, 0.9946975111961365, 0.44193941354751587, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8791103959083557, -1.4723048210144043, 0.9081025123596191, 1.1617838144302368, 0.6761654019355774, -1.254482388496399, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.3616769313812256, 0.8985656499862671, -1.1675058603286743, 0.9348058104515076, 0.4247730076313019, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -1.4253833293914795, 0.8695735335350037, 1.1102845668792725, 0.6887540817260742, -1.181620478630066, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.3250553607940674, 0.8524070978164673, -1.101892113685608, 0.8699550032615662, 0.41523614525794983, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8775845170021057, -1.3849469423294067, 0.8325703740119934, 1.0820554494857788, 0.7017242908477783, -1.1438543796539307, -0.004977348726242781, 0.004977348726242781, 0.08068207651376724, -1.2972075939178467, 0.8218890428543091, -1.0606927871704102, 0.8260852694511414, 0.4201953113079071, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8745326995849609, -1.350232720375061, 0.7986190319061279, 1.0671778917312622, 0.7185091972351074, -1.1190584897994995, -0.004977348726242781, 0.004977348726242781, 0.08030059933662415, -1.2701228857040405, 0.8001449704170227, -1.036659836769104, 0.7867932915687561, 0.44499123096466064, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -1.3361181020736694, 0.7822155952453613, 1.057259440422058, 0.7223239541053772, -1.10685133934021, -0.004977348726242781, 0.004977348726242781, 0.07839322835206985, -1.2483787536621094, 0.7875562906265259, -1.022926688194275, 0.7593270540237427, 0.45986875891685486, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8390554785728455, -1.3426032066345215, 0.7860303521156311, 1.0713740587234497, 0.7101167440414429, -1.1095216274261475, -0.004977348726242781, 0.004977348726242781, 0.07648584991693497, -1.2365529537200928, 0.7810711860656738, -1.0149157047271729, 0.7497901916503906, 0.46368351578712463, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7890821695327759, -1.3742656707763672, 0.8127336502075195, 1.2296863794326782, 0.6795986890792847, -1.2293049097061157, -0.004977348726242781, 0.004977348726242781, 0.07610437273979187, -1.2335011959075928, 0.777256429195404, -1.0133898258209229, 0.7543678879737854, 0.46330204606056213, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7345311641693115, -1.4288166761398315, 0.8688105344772339, 1.436446189880371, 0.654421329498291, -1.3853284120559692, -0.004977348726242781, 0.004977348726242781, 0.07572289556264877, -1.2335011959075928, 0.7753490209579468, -1.0133898258209229, 0.7658121585845947, 0.46330204606056213, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6803616285324097, -1.4948118925094604, 0.9416723847389221, 1.6744868755340576, 0.6307697892189026, -1.5669108629226685, -0.004977348726242781, 0.004977348726242781, 0.07572289556264877, -1.2392233610153198, 0.7738231420516968, -1.0133898258209229, 0.7814526557922363, 0.4674982726573944, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -1.5512703657150269, 1.0019454956054688, 1.872091293334961, 0.6185625791549683, -1.7092012166976929, -0.004977348726242781, 0.004977348726242781, 0.07572289556264877, -1.2468528747558594, 0.7734416723251343, -1.0336079597473145, 0.8009079098701477, 0.49153125286102295, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.620088517665863, -1.592851161956787, 1.0423818826675415, 2.0044631958007812, 0.6124590039253235, -1.7942702770233154, -0.004977348726242781, 0.004977348726242781, 0.07572289556264877, -1.2537193298339844, 0.7730602025985718, -1.0626001358032227, 0.8218890428543091, 0.5167086124420166, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6097886562347412, -1.6210802793502808, 1.0626001358032227, 2.0777065753936768, 0.6082627773284912, -1.8408102989196777, -0.004977348726242781, 0.004977348726242781, 0.07610437273979187, -1.260585904121399, 0.7734416723251343, -1.0778591632843018, 0.8318074345588684, 0.5323491096496582, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6040665507316589, -1.642824411392212, 1.0736628770828247, 2.11661696434021, 0.6048294901847839, -1.874380111694336, -0.004977348726242781, 0.004977348726242781, 0.0864042118191719, -1.272030234336853, 0.7753490209579468, -1.0965514183044434, 0.8337147831916809, 0.5510414242744446, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6017776727676392, -1.6569390296936035, 1.0778591632843018, 2.1406500339508057, 0.6025406122207642, -1.896124243736267, -0.004977348726242781, 0.004977348726242781, 0.10204470902681351, -1.2903410196304321, 0.7848859429359436, -1.1263065338134766, 0.8333333134651184, 0.5788891315460205, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6048294901847839, -1.6634241342544556, 1.0786221027374268, 2.1536202430725098, 0.6074998378753662, -1.9094758033752441, -0.004977348726242781, 0.004977348726242781, 0.11272602528333664, -1.3086519241333008, 0.8024337887763977, -1.1491950750350952, 0.8382925391197205, 0.6040665507316589, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6101701259613037, -1.6664758920669556, 1.0767147541046143, 2.1620125770568848, 0.6097886562347412, -1.9163423776626587, -0.004977348726242781, 0.004977348726242781, 0.1184481605887413, -1.3261997699737549, 0.8218890428543091, -1.1617838144302368, 0.8504997491836548, 0.622377336025238, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.613603413105011, -1.667620301246643, 1.0732814073562622, 2.165827512741089, 0.6105515956878662, -1.9239718914031982, -0.004977348726242781, 0.004977348726242781, 0.12264438718557358, -1.3418402671813965, 0.8398184180259705, -1.1747539043426514, 0.8604180812835693, 0.6330586671829224, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.621614396572113, -1.6672388315200806, 1.0648889541625977, 2.168879270553589, 0.6109330654144287, -1.946860432624817, -0.004977348726242781, 0.004977348726242781, 0.12684062123298645, -1.357480764389038, 0.8577477931976318, -1.182383418083191, 0.8688105344772339, 0.6433585286140442, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6319142580032349, -1.6618982553482056, 1.051155924797058, 2.173456907272339, 0.6078813076019287, -1.9777599573135376, -0.004977348726242781, 0.004977348726242781, 0.1359960287809372, -1.3689249753952026, 0.8726252913475037, -1.1949721574783325, 0.8714808821678162, 0.6509880423545837, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6460288166999817, -1.653505802154541, 1.034752368927002, 2.1738383769989014, 0.6017776727676392, -2.0166704654693604, -0.004977348726242781, 0.004977348726242781, 0.14400701224803925, -1.3776988983154297, 0.883306622505188, -1.204890489578247, 0.8707179427146912, 0.6582360863685608, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6605249047279358, -1.645494818687439, 1.021400809288025, 2.174982786178589, 0.6002517938613892, -2.065117835998535, -0.004977348726242781, 0.004977348726242781, 0.14820325374603271, -1.3834210634231567, 0.8901731967926025, -1.2090867757797241, 0.8676661252975464, 0.6609063744544983, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6712062358856201, -1.639009714126587, 1.0145342350006104, 2.1746013164520264, 0.6158922910690308, -2.1253910064697266, -0.004977348726242781, 0.004977348726242781, 0.1504921019077301, -1.3868544101715088, 0.8943694233894348, -1.2117570638656616, 0.8638513684272766, 0.6643396615982056, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6784542798995972, -1.6340504884719849, 1.0133898258209229, 2.172693967819214, 0.6372548937797546, -2.184901237487793, -0.0049713593907654285, 0.0049713593907654285, 0.1516365259885788, -1.3887617588043213, 0.8962767720222473, -1.2121385335922241, 0.8627069592475891, 0.6654840707778931, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6849393248558044, -1.6279468536376953, 1.0145342350006104, 2.172693967819214, 0.6548027992248535, -2.2272450923919678, -0.004977348726242781, 0.004977348726242781, 0.152399480342865, -1.3899061679840088, 0.8974212408065796, -1.2125200033187866, 0.8607995510101318, 0.6658655405044556, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6883726119995117, -1.6203173398971558, 1.0168230533599854, 2.172693967819214, 0.6666285395622253, -2.253185272216797, -0.004977348726242781, 0.004977348726242781, 0.152399480342865, -1.3899061679840088, 0.8974212408065796, -1.2129014730453491, 0.8581292629241943, 0.6677729487419128, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6898985505104065, -1.6081101894378662, 1.0194933414459229, 2.172693967819214, 0.6750209927558899, -2.2642481327056885, -0.004977348726242781, 0.004977348726242781, 0.152399480342865, -1.3895246982574463, 0.8974212408065796, -1.2125200033187866, 0.8585107326507568, 0.6700618267059326, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6898985505104065, -1.5924696922302246, 1.0202564001083374, 2.172693967819214, 0.6815060377120972, -2.2672998905181885, -0.004977348726242781, 0.004977348726242781, 0.152399480342865, -1.3864728212356567, 0.8962767720222473, -1.2129014730453491, 0.8596551418304443, 0.6738765835762024, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6898985505104065, -1.576829195022583, 1.019874930381775, 2.1723124980926514, 0.6826505064964294, -2.258526086807251, -0.004977348726242781, 0.004977348726242781, 0.1527809500694275, -1.3750286102294922, 0.890554666519165, -1.2125200033187866, 0.8604180812835693, 0.6769283413887024, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6898985505104065, -1.5669108629226685, 1.0179674625396729, 2.1723124980926514, 0.6815060377120972, -2.2467002868652344, -0.004977348726242781, 0.004977348726242781, 0.15316243469715118, -1.3521400690078735, 0.8794918656349182, -1.2148088216781616, 0.8707179427146912, 0.6807430982589722, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6898985505104065, -1.560044288635254, 1.0156786441802979, 2.1723124980926514, 0.6795986890792847, -2.2360188961029053, -0.004977348726242781, 0.004977348726242781, 0.15354390442371368, -1.3200961351394653, 0.8653773069381714, -1.2090867757797241, 0.8699550032615662, 0.6811245679855347, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6891355514526367, -1.5566109418869019, 1.0133898258209229, 2.1723124980926514, 0.6765468716621399, -2.2291524410247803, -0.004977348726242781, 0.004977348726242781, 0.15354390442371368, -1.2861448526382446, 0.846684992313385, -1.2098497152328491, 0.8756771087646484, 0.6841763854026794, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6887540817260742, -1.5520333051681519, 1.0114823579788208, 2.171931028366089, 0.6746395230293274, -2.2219042778015137, -0.0049713593907654285, 0.0049713593907654285, 0.1508735716342926, -1.2563897371292114, 0.8268482685089111, -1.2094682455062866, 0.8783474564552307, 0.6849393248558044, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6872282028198242, -1.5428777933120728, 1.0103379487991333, 2.171931028366089, 0.6738765835762024, -2.209315538406372, -0.0049713593907654285, 0.0049713593907654285, 0.14095520973205566, -1.2338826656341553, 0.8070115447044373, -1.2079423666000366, 0.8718623518943787, 0.6929503083229065, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6857023239135742, -1.5245670080184937, 1.0088120698928833, 2.171931028366089, 0.6692988276481628, -2.1868085861206055, -0.004977348726242781, 0.004977348726242781, 0.1184481605887413, -1.2163348197937012, 0.7871748208999634, -1.203364610671997, 0.8516441583633423, 0.7066834568977356, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6837949156761169, -1.4948118925094604, 1.0080491304397583, 2.171931028366089, 0.6620507836341858, -2.1547646522521973, -0.004977348726242781, 0.004977348726242781, 0.09479667246341705, -1.2022202014923096, 0.7665750980377197, -1.185816764831543, 0.8222705721855164, 0.7135500311851501, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6834134459495544, -1.4597162008285522, 1.0049973726272583, 2.1715495586395264, 0.6517509818077087, -2.122720718383789, -0.0049713593907654285, 0.0049713593907654285, 0.07038223743438721, -1.193827748298645, 0.7482643127441406, -1.1587319374084473, 0.7848859429359436, 0.7185091972351074, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6834134459495544, -1.4238574504852295, 0.9962233901023865, 2.1715495586395264, 0.6452658772468567, -2.0933470726013184, -0.0049713593907654285, 0.0049713593907654285, 0.039101243019104004, -1.189631462097168, 0.734149694442749, -1.120202898979187, 0.7425421476364136, 0.7219424843788147, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6826505064964294, -1.3895246982574463, 0.9805828928947449, 2.1715495586395264, 0.6380178332328796, -2.066643714904785, -0.0049713593907654285, 0.0049713593907654285, 0.005149920005351305, -1.1884870529174805, 0.726138710975647, -1.0797665119171143, 0.7055390477180481, 0.7299534678459167, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6818875670433044, -1.359769582748413, 0.9584572911262512, 2.1715495586395264, 0.6273365616798401, -2.044518232345581, -0.004977348726242781, 0.004977348726242781, -0.02536812424659729, -1.190394401550293, 0.7215610146522522, -1.0530632734298706, 0.6670100092887878, 0.7558938264846802, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6803616285324097, -1.3353551626205444, 0.9336614012718201, 2.1715495586395264, 0.6162737607955933, -2.030785083770752, -0.0049713593907654285, 0.0049713593907654285, -0.05054550990462303, -1.196879506111145, 0.7192721366882324, -1.0393301248550415, 0.6204699873924255, 0.7955672740936279, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6792172193527222, -1.3124666213989258, 0.9058136940002441, 2.1715495586395264, 0.6021591424942017, -2.0227739810943604, -0.0049713593907654285, 0.0049713593907654285, -0.06580453366041183, -1.2106126546859741, 0.7188906669616699, -1.030937671661377, 0.572022557258606, 0.8470664620399475, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2891966104507446, 0.8779659867286682, 2.1715495586395264, 0.5914778113365173, -2.0189592838287354, -0.0049713593907654285, 0.0049713593907654285, -0.07305257022380829, -1.2338826656341553, 0.7196536064147949, -1.0271228551864624, 0.5254825949668884, 0.9023804068565369, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2689783573150635, 0.8520256280899048, 2.1715495586395264, 0.5788891315460205, -2.0197222232818604, -0.0049713593907654285, 0.0049713593907654285, -0.07648584991693497, -1.261730432510376, 0.7272831201553345, -1.0233081579208374, 0.48962387442588806, 0.9481574892997742, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2510490417480469, 0.8295185565948486, 2.171168088912964, 0.5754558444023132, -2.027733325958252, -0.004977348726242781, 0.004977348726242781, -0.07915617525577545, -1.2907224893569946, 0.7379644513130188, -1.0225452184677124, 0.4655908942222595, 0.9821087718009949, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2376973628997803, 0.8134965896606445, 2.1715495586395264, 0.572022557258606, -2.0326924324035645, -0.0049713593907654285, 0.0049713593907654285, -0.07953765243291855, -1.3162813186645508, 0.7505531311035156, -1.0206378698349, 0.44270238280296326, 1.0042344331741333, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2285419702529907, 0.8001449704170227, 2.171168088912964, 0.5693522691726685, -2.042229413986206, -0.004977348726242781, 0.004977348726242781, -0.07953765243291855, -1.339551329612732, 0.7673380374908447, -1.0202564001083374, 0.43049514293670654, 1.0179674625396729, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2232013940811157, 0.7921339869499207, 2.1707866191864014, 0.5685893297195435, -2.0510032176971436, -0.0049713593907654285, 0.0049713593907654285, -0.07953765243291855, -1.3632028102874756, 0.7883192300796509, -1.0206378698349, 0.4240100681781769, 1.0263599157333374, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2201495170593262, 0.7841230034828186, 2.171168088912964, 0.5682078003883362, -2.05825138092041, -0.0049713593907654285, 0.0049713593907654285, -0.07953765243291855, -1.3860913515090942, 0.810826301574707, -1.0206378698349, 0.421339750289917, 1.033226490020752, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2155718803405762, 0.776493489742279, 2.1707866191864014, 0.5682078003883362, -2.065117835998535, -0.0049713593907654285, 0.0049713593907654285, -0.07953765243291855, -1.404402256011963, 0.8276112079620361, -1.0202564001083374, 0.4217212200164795, 1.039711594581604, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2125200033187866, 0.7711527943611145, 2.171168088912964, 0.5682078003883362, -2.0662622451782227, -0.004977348726242781, 0.004977348726242781, -0.07953765243291855, -1.416990876197815, 0.8375295400619507, -1.0202564001083374, 0.4217212200164795, 1.0435264110565186, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2117570638656616, 0.7703898549079895, 2.171168088912964, 0.5685893297195435, -2.0685510635375977, -0.0049713593907654285, 0.0049713593907654285, -0.07953765243291855, -1.426146388053894, 0.8428702354431152, -1.0194933414459229, 0.4209582805633545, 1.043144941329956, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2121385335922241, 0.770771324634552, 2.171168088912964, 0.569733738899231, -2.0685510635375977, -0.0049713593907654285, 0.0049713593907654285, -0.07953765243291855, -1.4326313734054565, 0.8455405235290527, -1.0187304019927979, 0.4201953113079071, 1.0435264110565186, -0.012092644348740578, 0.012092644348740578], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2125200033187866, 0.770771324634552, 2.171168088912964, 0.5724040865898132, -2.0693140029907227, -0.0049713593907654285, 0.0049713593907654285, -0.07953765243291855, -1.437209129333496, 0.8463035225868225, -1.0164415836334229, 0.41561761498451233, 1.047722578048706, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2125200033187866, 0.770008385181427, 2.171168088912964, 0.572022557258606, -2.0719845294952393, -0.0049713593907654285, 0.0049713593907654285, -0.07953765243291855, -1.4398794174194336, 0.846684992313385, -1.0156786441802979, 0.41256579756736755, 1.051918864250183, -0.014418741688132286, 0.014418741688132286], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2121385335922241, 0.7673380374908447, 2.171168088912964, 0.5685893297195435, -2.0719845294952393, -0.0049713593907654285, 0.0049713593907654285, -0.07839322835206985, -1.4353017807006836, 0.846684992313385, -1.0160601139068604, 0.41676202416419983, 1.0584038496017456, -0.020153120160102844, 0.020153120160102844], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.2098497152328491, 0.7646677494049072, 2.171168088912964, 0.5651560425758362, -2.0719845294952393, -0.0049713593907654285, 0.0049713593907654285, -0.07953765243291855, -1.418898344039917, 0.84592205286026, -1.027885913848877, 0.4369802474975586, 1.0660333633422852, -0.02250220999121666, 0.02250220999121666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.204890489578247, 0.7639048099517822, 2.1715495586395264, 0.5613412857055664, -2.0735104084014893, -0.0049713593907654285, 0.0049713593907654285, -0.08220797777175903, -1.3799878358840942, 0.84592205286026, -1.032463550567627, 0.4507133662700653, 1.0694667100906372, -0.022482287138700485, 0.022482287138700485], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6769283413887024, -1.19153892993927, 0.7742046117782593, 2.1715495586395264, 0.5601968169212341, -2.1017396450042725, -0.004977348726242781, 0.004977348726242781, -0.07343403995037079, -1.3151369094848633, 0.8451590538024902, -1.0938811302185059, 0.48962387442588806, 1.1057069301605225, -0.018182480707764626, 0.018182480707764626], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6712062358856201, -1.1667429208755493, 0.7948042750358582, 2.1715495586395264, 0.5575265288352966, -2.1337835788726807, -0.004977348726242781, 0.004977348726242781, -0.048256658017635345, -1.2197680473327637, 0.8276112079620361, -1.2296863794326782, 0.5086976289749146, 1.19916832447052, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6616693139076233, -1.121347427368164, 0.8234149813652039, 2.1715495586395264, 0.5243381261825562, -2.1444647312164307, -0.0049713593907654285, 0.0049713593907654285, -0.00019073777366429567, -1.0854886770248413, 0.7753490209579468, -1.3433661460876465, 0.49000534415245056, 1.2739375829696655, -0.0001752426178427413, 0.0001752426178427413], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6292439103126526, -1.0606927871704102, 0.8413442969322205, 2.1715495586395264, 0.47589075565338135, -2.1383612155914307, -0.004977348726242781, 0.004977348726242781, 0.07801175117492676, -0.9279392957687378, 0.693331778049469, -1.4024949073791504, 0.4350728690624237, 1.3200961351394653, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5533303022384644, -0.9905012845993042, 0.8325703740119934, 2.171168088912964, 0.4507133662700653, -2.1360723972320557, -0.0049713593907654285, 0.0049713593907654285, 0.17528800666332245, -0.7734416723251343, 0.5971999764442444, -1.4421683549880981, 0.3553444743156433, 1.350232720375061, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42820629477500916, -0.9309910535812378, 0.7948042750358582, 2.171168088912964, 0.4388876259326935, -2.1730754375457764, -0.0049713593907654285, 0.0049713593907654285, 0.26722362637519836, -0.6418325901031494, 0.5033569931983948, -1.4646753072738647, 0.28515297174453735, 1.3799878358840942, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.26874953508377075, -0.8997100591659546, 0.7417792081832886, 2.1707866191864014, 0.47932401299476624, -2.2314412593841553, -0.0049713593907654285, 0.0049713593907654285, 0.33436331152915955, -0.5468451976776123, 0.42706188559532166, -1.4784084558486938, 0.24891279637813568, 1.415464997291565, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13179980218410492, -0.9004730582237244, 0.7009612917900085, 2.1700236797332764, 0.5125123858451843, -2.2680628299713135, -0.004977348726242781, 0.004977348726242781, 0.36907759308815, -0.49191272258758545, 0.3747997283935547, -1.4868009090423584, 0.23365376889705658, 1.4505608081817627, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04444190114736557, -0.9325169920921326, 0.6750209927558899, 2.1715495586395264, 0.5178530812263489, -2.27836275100708, -0.0049713593907654285, 0.0049713593907654285, 0.3908216953277588, -0.4671168029308319, 0.34504464268684387, -1.4894713163375854, 0.23441672325134277, 1.4749752283096313, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0024795911740511656, -0.9882124066352844, 0.6631952524185181, 2.171168088912964, 0.5220493078231812, -2.2619593143463135, -0.004977348726242781, 0.004977348726242781, 0.39921414852142334, -0.45834288001060486, 0.3290226459503174, -1.493667483329773, 0.23708705604076385, 1.4917601346969604, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.02040894143283367, -1.052681803703308, 0.6548027992248535, 2.1238651275634766, 0.536926805973053, -2.2005417346954346, -0.004977348726242781, 0.004977348726242781, 0.4056992530822754, -0.45643550157546997, 0.32063019275665283, -1.496337890625, 0.23785001039505005, 1.4997711181640625, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.02193484455347061, -1.1175326108932495, 0.6383993029594421, 1.9647897481918335, 0.5758373141288757, -2.06282901763916, -0.0049713593907654285, 0.0049713593907654285, 0.4091325104236603, -0.45757991075515747, 0.31643396615982056, -1.496337890625, 0.23785001039505005, 1.504348874092102, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.02079041674733162, -1.1701762676239014, 0.6292439103126526, 1.8606469631195068, 0.6017776727676392, -1.9674601554870605, -0.004977348726242781, 0.004977348726242781, 0.41027694940567017, -0.45872434973716736, 0.31414511799812317, -1.496337890625, 0.23823148012161255, 1.507400631904602, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.016212711110711098, -1.2087053060531616, 0.6177996397018433, 1.8030441999435425, 0.6265735626220703, -1.9087128639221191, -0.0049713593907654285, 0.0049713593907654285, 0.41103988885879517, -0.46101319789886475, 0.3126192092895508, -1.496337890625, 0.23861294984817505, 1.5108338594436646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.015449759550392628, -1.2323567867279053, 0.6082627773284912, 1.7706187963485718, 0.6452658772468567, -1.880865216255188, -0.0049713593907654285, 0.0049713593907654285, 0.41103988885879517, -0.4640650153160095, 0.3122377395629883, -1.496337890625, 0.23861294984817505, 1.5108338594436646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01430533267557621, -1.2487602233886719, 0.5994887948036194, 1.7523078918457031, 0.6628137826919556, -1.8732357025146484, -0.0049713593907654285, 0.0049713593907654285, 0.41103988885879517, -0.4682612419128418, 0.3122377395629883, -1.496337890625, 0.23899443447589874, 1.5108338594436646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.013923857361078262, -1.2602044343948364, 0.5960555672645569, 1.7690927982330322, 0.6723506450653076, -1.885442852973938, -0.0049713593907654285, 0.0049713593907654285, 0.41103988885879517, -0.4724574685096741, 0.3122377395629883, -1.495956301689148, 0.23899443447589874, 1.5108338594436646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.013923857361078262, -1.267833948135376, 0.5956740379333496, 1.7885481119155884, 0.6792172193527222, -1.900701880455017, -0.0049713593907654285, 0.0049713593907654285, 0.41103988885879517, -0.47398337721824646, 0.3122377395629883, -1.496337890625, 0.24052032828330994, 1.5108338594436646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.013923857361078262, -1.275844931602478, 0.5971999764442444, 1.797703504562378, 0.6773098111152649, -1.9102388620376587, -0.0049713593907654285, 0.0049713593907654285, 0.41103988885879517, -0.47512778639793396, 0.3122377395629883, -1.496337890625, 0.24090181291103363, 1.511215329170227, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01430533267557621, -1.28233003616333, 0.6013962030410767, 1.8060959577560425, 0.6612878441810608, -1.9110018014907837, -0.0049713593907654285, 0.0049713593907654285, 0.41103988885879517, -0.47589075565338135, 0.3122377395629883, -1.496337890625, 0.24090181291103363, 1.5115967988967896, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01430533267557621, -1.28385591506958, 0.6033035516738892, 1.8087663650512695, 0.6467918157577515, -1.9087128639221191, -0.0049713593907654285, 0.0049713593907654285, 0.41103988885879517, -0.47703516483306885, 0.3122377395629883, -1.496337890625, 0.24090181291103363, 1.5119783878326416, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01430533267557621, -1.280041217803955, 0.6013962030410767, 1.8087663650512695, 0.6357290148735046, -1.899176001548767, -0.005001332610845566, 0.005001332610845566, 0.41103988885879517, -0.47703516483306885, 0.3122377395629883, -1.496337890625, 0.24166475236415863, 1.5142672061920166, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01430533267557621, -1.2724117040634155, 0.5998703241348267, 1.8133440017700195, 0.6177996397018433, -1.88735032081604, -0.007025225553661585, 0.007025225553661585, 0.41103988885879517, -0.47741663455963135, 0.3122377395629883, -1.496337890625, 0.24357213079929352, 1.5142672061920166, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01506828423589468, -1.2594414949417114, 0.6010147333145142, 1.8125810623168945, 0.6177996397018433, -1.878194808959961, -0.009861822240054607, 0.009861822240054607, 0.41103988885879517, -0.47817960381507874, 0.3122377395629883, -1.496337890625, 0.2481498420238495, 1.5142672061920166, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01888304017484188, -1.2445639371871948, 0.6017776727676392, 1.812962532043457, 0.6139848828315735, -1.8602654933929443, -0.011706966906785965, 0.011706966906785965, 0.41103988885879517, -0.4800869822502136, 0.3122377395629883, -1.496337890625, 0.24891279637813568, 1.513885736465454, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.02880140393972397, -1.2296863794326782, 0.6029220819473267, 1.812962532043457, 0.6132219433784485, -1.8446249961853027, -0.011706966906785965, 0.011706966906785965, 0.41103988885879517, -0.4800869822502136, 0.3122377395629883, -1.496337890625, 0.24967575073242188, 1.5135042667388916, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04329747334122658, -1.2182421684265137, 0.6040665507316589, 1.8125810623168945, 0.6109330654144287, -1.8350881338119507, -0.011706966906785965, 0.011706966906785965, 0.41103988885879517, -0.4800869822502136, 0.3122377395629883, -1.496337890625, 0.25120165944099426, 1.5135042667388916, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.057793546468019485, -1.2098497152328491, 0.6040665507316589, 1.8125810623168945, 0.6052109599113464, -1.8251698017120361, -0.011706966906785965, 0.011706966906785965, 0.41103988885879517, -0.4808499217033386, 0.3122377395629883, -1.496337890625, 0.25310903787612915, 1.513122797012329, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.071908138692379, -1.1987868547439575, 0.6040665507316589, 1.8125810623168945, 0.5979629158973694, -1.8102922439575195, -0.01163890864700079, 0.01163890864700079, 0.41103988885879517, -0.4819943606853485, 0.3122377395629883, -1.496337890625, 0.25310903787612915, 1.5115967988967896, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08564125746488571, -1.176279902458191, 0.6059738993644714, 1.8125810623168945, 0.5865186452865601, -1.7839703559875488, -0.01060418225824833, 0.01060418225824833, 0.41103988885879517, -0.4819943606853485, 0.3122377395629883, -1.496337890625, 0.25349050760269165, 1.5108338594436646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09708552807569504, -1.1415655612945557, 0.6086442470550537, 1.8125810623168945, 0.5647745728492737, -1.7668039798736572, -0.008677219972014427, 0.008677219972014427, 0.41103988885879517, -0.4819943606853485, 0.3122377395629883, -1.496337890625, 0.25425344705581665, 1.5108338594436646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10204470902681351, -1.0820554494857788, 0.6021591424942017, 1.8125810623168945, 0.535400927066803, -1.7576485872268677, -0.006114305462688208, 0.006114305462688208, 0.41103988885879517, -0.4819943606853485, 0.3122377395629883, -1.496337890625, 0.25616082549095154, 1.5108338594436646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08869306743144989, -0.9931715726852417, 0.5678263306617737, 1.811436653137207, 0.5052643418312073, -1.7671854496002197, -0.0006245730328373611, 0.0006245730328373611, 0.41103988885879517, -0.4819943606853485, 0.3122377395629883, -1.496337890625, 0.2504386901855469, 1.511215329170227, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03147173300385475, -0.8733882904052734, 0.5201418995857239, 1.812199592590332, 0.45681697130203247, -1.7851147651672363, -9.422883886145428e-05, 9.422883886145428e-05, 0.41103988885879517, -0.47932401299476624, 0.3122377395629883, -1.496337890625, 0.23937590420246124, 1.5108338594436646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06809338182210922, -0.7394903302192688, 0.465209424495697, 1.8125810623168945, 0.369840532541275, -1.793888807296753, -9.422883886145428e-05, 9.422883886145428e-05, 0.41103988885879517, -0.47550925612449646, 0.3118562698364258, -1.496337890625, 0.21992065012454987, 1.491378664970398, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1985580176115036, -0.5991073250770569, 0.4022659659385681, 1.8125810623168945, 0.2943083941936493, -1.80418860912323, -9.422883886145428e-05, 9.422883886145428e-05, 0.41103988885879517, -0.4697871506214142, 0.3122377395629883, -1.496337890625, 0.19359883666038513, 1.4570459127426147, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33016708493232727, -0.4728389382362366, 0.34542611241340637, 1.8125810623168945, 0.22106507420539856, -1.820973515510559, -9.422883886145428e-05, 9.422883886145428e-05, 0.422102689743042, -0.46063172817230225, 0.3122377395629883, -1.496337890625, 0.1653696447610855, 1.4505608081817627, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4549095928668976, -0.368314653635025, 0.2977416515350342, 1.8125810623168945, 0.1359960287809372, -1.8316547870635986, -9.422883886145428e-05, 9.422883886145428e-05, 0.47589075565338135, -0.4556725323200226, 0.3118562698364258, -1.496337890625, 0.14095520973205566, 1.435683250427246, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5640115737915039, -0.290875107049942, 0.25463491678237915, 1.812199592590332, 0.07610437273979187, -1.8373769521713257, -9.422883886145428e-05, 9.422883886145428e-05, 0.5624856948852539, -0.45910581946372986, 0.3114747703075409, -1.496337890625, 0.10509651154279709, 1.403639316558838, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6597619652748108, -0.23861294984817505, 0.2145799994468689, 1.812199592590332, 0.042153049260377884, -1.8408102989196777, -9.422883886145428e-05, 9.422883886145428e-05, 0.6616693139076233, -0.4674982726573944, 0.3107118308544159, -1.4967193603515625, 0.0558861680328846, 1.3841840028762817, -0.0001752426178427413, 0.0001752426178427413], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7234683632850647, -0.19283588230609894, 0.1817730963230133, 1.812199592590332, 0.03452353551983833, -1.8415732383728027, -9.422883886145428e-05, 9.422883886145428e-05, 0.7558938264846802, -0.4736018776893616, 0.3103303611278534, -1.496337890625, 0.005149920005351305, 1.3715953826904297, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7661936283111572, -0.13103684782981873, 0.14744029939174652, 1.812199592590332, 0.03376058489084244, -1.8465323448181152, -9.422883886145428e-05, 9.422883886145428e-05, 0.8299000263214111, -0.47398337721824646, 0.3099488914012909, -1.4967193603515625, -0.02841992862522602, 1.3658732175827026, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7894636392593384, -0.05397878959774971, 0.11196307092905045, 1.8118181228637695, 0.023460745811462402, -1.8602654933929443, -9.422883886145428e-05, 9.422883886145428e-05, 0.8737697601318359, -0.4694056510925293, 0.3065156042575836, -1.4967193603515625, -0.04253452271223068, 1.3666361570358276, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8020523190498352, 0.01125352829694748, 0.08106355369091034, 1.812199592590332, 0.004005493130534887, -1.8694208860397339, -9.422883886145428e-05, 9.422883886145428e-05, 0.8958953022956848, -0.45948728919029236, 0.2977416515350342, -1.4967193603515625, -0.05054550990462303, 1.3696879148483276, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8096818327903748, 0.04596780240535736, 0.057793546468019485, 1.8118181228637695, -0.005149920005351305, -1.8755245208740234, -9.422883886145428e-05, 9.422883886145428e-05, 0.9084840416908264, -0.44613564014434814, 0.28553444147109985, -1.4967193603515625, -0.057793546468019485, 1.3735027313232422, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8192187547683716, 0.05664911866188049, 0.03795681521296501, 1.8118181228637695, -0.01201647985726595, -1.880102276802063, -9.422883886145428e-05, 9.422883886145428e-05, 0.9149690866470337, -0.4358358085155487, 0.273708701133728, -1.4967193603515625, -0.057793546468019485, 1.3754100799560547, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8318074345588684, 0.05664911866188049, 0.024223696440458298, 1.8118181228637695, -0.011635004542768002, -1.882391095161438, -9.422883886145428e-05, 9.422883886145428e-05, 0.917639434337616, -0.42858776450157166, 0.265697717666626, -1.4967193603515625, -0.059319447726011276, 1.3784618377685547, -0.0001752426178427413, 0.0001752426178427413], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.839436948299408, 0.05436026677489281, 0.01430533267557621, 1.8118181228637695, -0.00019073777366429567, -1.8812466859817505, -9.422883886145428e-05, 9.422883886145428e-05, 0.9199283123016357, -0.4171435236930847, 0.2588311731815338, -1.4967193603515625, -0.06084534898400307, 1.3784618377685547, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, 0.03490501269698143, -0.0032425422687083483, 1.8118181228637695, 0.03223468363285065, -1.871328353881836, -9.422883886145428e-05, 9.422883886145428e-05, 0.9206912517547607, -0.39387351274490356, 0.24967575073242188, -1.4967193603515625, -0.05703059583902359, 1.3784618377685547, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84592205286026, 0.0013351644156500697, -0.016594186425209045, 1.8118181228637695, 0.06771191209554672, -1.8621728420257568, -9.422883886145428e-05, 9.422883886145428e-05, 0.9210727214813232, -0.3545815348625183, 0.23327229917049408, -1.4967193603515625, -0.04177157208323479, 1.3784618377685547, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8470664620399475, -0.01888304017484188, -0.023079270496964455, 1.8118181228637695, 0.0883115902543068, -1.8556878566741943, -9.422883886145428e-05, 9.422883886145428e-05, 0.9214541912078857, -0.2931639552116394, 0.20084688067436218, -1.496337890625, -0.02727550081908703, 1.3864728212356567, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.02727550081908703, -0.026512550190091133, 1.8118181228637695, 0.09937438368797302, -1.8549247980117798, -9.422883886145428e-05, 9.422883886145428e-05, 0.9214541912078857, -0.23403525352478027, 0.15964750945568085, -1.496337890625, -0.015449759550392628, 1.3941023349761963, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.029564354568719864, -0.02994582988321781, 1.8118181228637695, 0.1031891331076622, -1.8553062677383423, -9.422883886145428e-05, 9.422883886145428e-05, 0.9206912517547607, -0.19054703414440155, 0.12149996310472488, -1.496337890625, -0.004005493130534887, 1.408216953277588, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.029564354568719864, -0.03185320645570755, 1.8118181228637695, 0.10967422276735306, -1.8564507961273193, -9.422883886145428e-05, 9.422883886145428e-05, 0.9199283123016357, -0.17109178006649017, 0.09098191559314728, -1.496337890625, -0.005531395319849253, 1.4166094064712524, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.031090257689356804, -0.03223468363285065, 1.8118181228637695, 0.11005569249391556, -1.8602654933929443, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.16193637251853943, 0.06580453366041183, -1.496337890625, -0.024605173617601395, 1.4246203899383545, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03376058489084244, -0.03185320645570755, 1.8118181228637695, 0.11043716967105865, -1.8629357814788818, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.15964750945568085, 0.05207141116261482, -1.495956301689148, -0.03643091395497322, 1.431486964225769, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.035667963325977325, -0.03147173300385475, 1.8118181228637695, 0.11043716967105865, -1.8629357814788818, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.15964750945568085, 0.04444190114736557, -1.495956301689148, -0.04482337832450867, 1.4375905990600586, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.035667963325977325, -0.03147173300385475, 1.8118181228637695, 0.11081864684820175, -1.8625543117523193, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.15964750945568085, 0.040627144277095795, -1.495956301689148, -0.04940108209848404, 1.4421683549880981, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.035667963325977325, -0.03147173300385475, 1.8118181228637695, 0.11120012402534485, -1.8625543117523193, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.15964750945568085, 0.038719769567251205, -1.4955748319625854, -0.05054550990462303, 1.4429312944412231, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.031090257689356804, 1.8118181228637695, 0.11158160120248795, -1.8617913722991943, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.15964750945568085, 0.03757534176111221, -1.4955748319625854, -0.05130846053361893, 1.4463645219802856, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03757534176111221, -0.031090257689356804, 1.812199592590332, 0.11272602528333664, -1.8621728420257568, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.15964750945568085, 0.037193864583969116, -1.495193362236023, -0.05436026677489281, 1.4463645219802856, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03757534176111221, -0.031090257689356804, 1.8118181228637695, 0.11272602528333664, -1.8621728420257568, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.15964750945568085, 0.037193864583969116, -1.495193362236023, -0.05397878959774971, 1.4463645219802856, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03757534176111221, -0.031090257689356804, 1.8118181228637695, 0.11272602528333664, -1.8625543117523193, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.15964750945568085, 0.037193864583969116, -1.495193362236023, -0.05397878959774971, 1.4463645219802856, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.8118181228637695, 0.11310750246047974, -1.8625543117523193, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.16002899408340454, 0.037193864583969116, -1.494430422782898, -0.05436026677489281, 1.4467459917068481, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.8118181228637695, 0.11310750246047974, -1.8629357814788818, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.16002899408340454, 0.037193864583969116, -1.4932860136032104, -0.05436026677489281, 1.4467459917068481, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.031090257689356804, 1.8118181228637695, 0.11310750246047974, -1.8633173704147339, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.16002899408340454, 0.037193864583969116, -1.4932860136032104, -0.05436026677489281, 1.4467459917068481, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.031090257689356804, 1.8118181228637695, 0.11310750246047974, -1.8636988401412964, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.16002899408340454, 0.037193864583969116, -1.493667483329773, -0.05436026677489281, 1.4467459917068481, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.8118181228637695, 0.11310750246047974, -1.8636988401412964, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.16002899408340454, 0.037193864583969116, -1.493667483329773, -0.05436026677489281, 1.4467459917068481, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.8118181228637695, 0.11272602528333664, -1.8640803098678589, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.16002899408340454, 0.037193864583969116, -1.4940489530563354, -0.054741740226745605, 1.4475089311599731, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8648432493209839, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.16002899408340454, 0.037193864583969116, -1.506637692451477, -0.054741740226745605, 1.4627679586410522, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8667505979537964, -9.422883886145428e-05, 9.422883886145428e-05, 0.9187838435173035, -0.16002899408340454, 0.037193864583969116, -1.5314335823059082, -0.05436026677489281, 1.488326907157898, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.8118181228637695, 0.11272602528333664, -1.8667505979537964, -9.422883886145428e-05, 9.422883886145428e-05, 0.918402373790741, -0.16079194843769073, 0.037193864583969116, -1.5417333841323853, -0.05436026677489281, 1.4967193603515625, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8667505979537964, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16079194843769073, 0.037193864583969116, -1.5459296703338623, -0.05436026677489281, 1.503204345703125, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.031090257689356804, 1.812199592590332, 0.11272602528333664, -1.8667505979537964, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16079194843769073, 0.037193864583969116, -1.5489814281463623, -0.05397878959774971, 1.505111813545227, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8663691282272339, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16079194843769073, 0.037193864583969116, -1.5493628978729248, -0.05397878959774971, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8663691282272339, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16079194843769073, 0.037193864583969116, -1.5527962446212769, -0.05397878959774971, 1.5077821016311646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.8118181228637695, 0.11272602528333664, -1.8663691282272339, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16079194843769073, 0.037193864583969116, -1.5527962446212769, -0.05397878959774971, 1.5108338594436646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8663691282272339, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16079194843769073, 0.037193864583969116, -1.5527962446212769, -0.05397878959774971, 1.5108338594436646, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.8118181228637695, 0.11272602528333664, -1.8659876585006714, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16117341816425323, 0.037193864583969116, -1.5527962446212769, -0.05436026677489281, 1.510452389717102, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8659876585006714, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16155488789081573, 0.037193864583969116, -1.5531777143478394, -0.054741740226745605, 1.510452389717102, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.8118181228637695, 0.11272602528333664, -1.8659876585006714, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16155488789081573, 0.037193864583969116, -1.5535591840744019, -0.05703059583902359, 1.510452389717102, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8659876585006714, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16155488789081573, 0.037193864583969116, -1.5550850629806519, -0.05703059583902359, 1.5100709199905396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.8118181228637695, 0.11310750246047974, -1.8656061887741089, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16193637251853943, 0.037193864583969116, -1.5554665327072144, -0.05703059583902359, 1.5100709199905396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.8118181228637695, 0.11272602528333664, -1.8652247190475464, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16193637251853943, 0.037193864583969116, -1.5554665327072144, -0.05703059583902359, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.8118181228637695, 0.11272602528333664, -1.8636988401412964, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.16269932687282562, 0.037193864583969116, -1.5554665327072144, -0.05703059583902359, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8636988401412964, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5550850629806519, -0.05741206929087639, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.031090257689356804, 1.812199592590332, 0.11272602528333664, -1.8636988401412964, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.1653696447610855, 0.037193864583969116, -1.5550850629806519, -0.05741206929087639, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8640803098678589, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.1653696447610855, 0.037193864583969116, -1.5543221235275269, -0.057793546468019485, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8640803098678589, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.1653696447610855, 0.037193864583969116, -1.5527962446212769, -0.058175019919872284, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8640803098678589, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.1653696447610855, 0.037193864583969116, -1.5531777143478394, -0.058175019919872284, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8640803098678589, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5531777143478394, -0.05855649709701538, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.031090257689356804, 1.8118181228637695, 0.11272602528333664, -1.8644617795944214, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5531777143478394, -0.05893797054886818, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03681239113211632, -0.030708782374858856, 1.812199592590332, 0.11272602528333664, -1.8640803098678589, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.1653696447610855, 0.03681239113211632, -1.5531777143478394, -0.05893797054886818, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03795681521296501, -0.030708782374858856, 1.8118181228637695, 0.11234454810619354, -1.8636988401412964, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.1653696447610855, 0.037193864583969116, -1.5531777143478394, -0.05970092490315437, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03833829239010811, -0.030708782374858856, 1.8118181228637695, 0.11196307092905045, -1.8636988401412964, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.1653696447610855, 0.03681239113211632, -1.5531777143478394, -0.06046387553215027, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03833829239010811, -0.030708782374858856, 1.812199592590332, 0.11196307092905045, -1.8633173704147339, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.1653696447610855, 0.037193864583969116, -1.5531777143478394, -0.06046387553215027, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03833829239010811, -0.030708782374858856, 1.812199592590332, 0.11196307092905045, -1.8629357814788818, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5531777143478394, -0.06008239835500717, 1.506637692451477, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03833829239010811, -0.030708782374858856, 1.812199592590332, 0.11196307092905045, -1.8606469631195068, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.1653696447610855, 0.037193864583969116, -1.5531777143478394, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03833829239010811, -0.030708782374858856, 1.7874037027359009, 0.11196307092905045, -1.8327993154525757, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.1653696447610855, 0.037193864583969116, -1.5531777143478394, -0.05855649709701538, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03795681521296501, -0.030708782374858856, 1.7160677909851074, 0.11196307092905045, -1.7641336917877197, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5535591840744019, -0.05855649709701538, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03757534176111221, -0.03147173300385475, 1.658846378326416, 0.11234454810619354, -1.7114900350570679, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5535591840744019, -0.05855649709701538, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.5924696922302246, 0.11348897218704224, -1.6519798040390015, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.05855649709701538, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03185320645570755, -0.034142062067985535, 1.5478370189666748, 0.11387044936418533, -1.6165026426315308, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.05893797054886818, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.02994582988321781, -0.035667963325977325, 1.5226596593856812, 0.11692225188016891, -1.592088222503662, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.05893797054886818, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.028038453310728073, -0.035667963325977325, 1.5077821016311646, 0.11692225188016891, -1.580643892288208, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5539406538009644, -0.05893797054886818, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.029182879254221916, -0.035667963325977325, 1.50091552734375, 0.11692225188016891, -1.5737773180007935, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.05893797054886818, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.029564354568719864, -0.03528648987412453, 1.497100830078125, 0.11692225188016891, -1.5691996812820435, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5539406538009644, -0.05893797054886818, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.029564354568719864, -0.03528648987412453, 1.493667483329773, 0.11654078215360641, -1.566529393196106, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03185320645570755, -0.03337911143898964, 1.490615725517273, 0.11539635062217712, -1.566529393196106, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03528648987412453, -0.03185320645570755, 1.490615725517273, 0.11310750246047974, -1.566529393196106, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03528648987412453, -0.03185320645570755, 1.4902342557907104, 0.11272602528333664, -1.566529393196106, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03185320645570755, 1.4902342557907104, 0.11272602528333664, -1.5669108629226685, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.4902342557907104, 0.11272602528333664, -1.567292332649231, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.489852786064148, 0.11310750246047974, -1.5707255601882935, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.489852786064148, 0.11310750246047974, -1.571107029914856, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.489852786064148, 0.11310750246047974, -1.5737773180007935, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.489852786064148, 0.11348897218704224, -1.574158787727356, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.05893797054886818, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.489852786064148, 0.11348897218704224, -1.574158787727356, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.489852786064148, 0.11348897218704224, -1.574158787727356, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.4894713163375854, 0.11387044936418533, -1.574540376663208, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.4894713163375854, 0.11387044936418533, -1.574540376663208, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.05893797054886818, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.4894713163375854, 0.11387044936418533, -1.574540376663208, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5539406538009644, -0.059319447726011276, 1.507400631904602, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.4894713163375854, 0.11387044936418533, -1.5749218463897705, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.03681239113211632, -1.5539406538009644, -0.059319447726011276, 1.507400631904602, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.03452353551983833, -0.03223468363285065, 1.4894713163375854, 0.11387044936418533, -1.5749218463897705, -9.422883886145428e-05, 9.422883886145428e-05, 0.9180209040641785, -0.164988175034523, 0.037193864583969116, -1.5539406538009644, -0.059319447726011276, 1.5070191621780396, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000020/meta.json b/rc-table30-v2__rc-dos-w1/000020/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9bafe6530727bd56c54f68519c9ce6abcc45715
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000020/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Put the blue bowl into the beige bowl, and put the green bowl into the blue bowl.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 4458,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000020/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000020/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..149d72e3470559c6c6dcc48ae00375e2f9fc670d
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000020/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000020/temporal.json b/rc-table30-v2__rc-dos-w1/000020/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa67995c8c1ae49e8145f8466db0425265e20eba
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000020/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.7955672740936279, 0.013923857361078262, -0.039101243019104004, 1.4829862117767334, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.8737697601318359, -0.06466010212898254, -0.021171892061829567, -1.510452389717102, -0.11043716967105865, 1.5485999584197998, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7955672740936279, 0.013923857361078262, -0.039101243019104004, 1.4829862117767334, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.8737697601318359, -0.06466010212898254, -0.021171892061829567, -1.510452389717102, -0.11043716967105865, 1.5485999584197998, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7955672740936279, 0.013542382046580315, -0.039101243019104004, 1.483367681503296, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.8737697601318359, -0.06466010212898254, -0.021171892061829567, -1.510452389717102, -0.11043716967105865, 1.5485999584197998, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7955672740936279, 0.013923857361078262, -0.039101243019104004, 1.4837491512298584, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.8737697601318359, -0.06466010212898254, -0.016212711110711098, -1.5100709199905396, -0.10776684433221817, 1.5485999584197998, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7955672740936279, 0.013923857361078262, -0.039101243019104004, 1.485656499862671, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.8737697601318359, -0.06580453366041183, 0.02536812424659729, -1.5093079805374146, -0.08449683338403702, 1.5367742776870728, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7955672740936279, 0.013923857361078262, -0.039101243019104004, 1.4852750301361084, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.8707179427146912, -0.09784847497940063, 0.11310750246047974, -1.508926510810852, -0.03147173300385475, 1.5367742776870728, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7955672740936279, 0.013923857361078262, -0.038719769567251205, 1.4852750301361084, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.8436331748962402, -0.22411687672138214, 0.2653162479400635, -1.5093079805374146, 0.09136339277029037, 1.5371557474136353, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.013923857361078262, -0.039101243019104004, 1.4852750301361084, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.7978560924530029, -0.4346913993358612, 0.4663538634777069, -1.509689450263977, 0.28362706303596497, 1.5371557474136353, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.013923857361078262, -0.039101243019104004, 1.4852750301361084, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.7494087219238281, -0.7055390477180481, 0.7055390477180481, -1.508926510810852, 0.5273899435997009, 1.5291447639465332, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.013923857361078262, -0.039101243019104004, 1.4852750301361084, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.6929503083229065, -0.9863049983978271, 0.9508277773857117, -1.5093079805374146, 0.7883192300796509, 1.5299077033996582, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.013923857361078262, -0.039101243019104004, 1.484893560409546, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.6403067111968994, -1.1964980363845825, 1.1354619264602661, -1.5093079805374146, 0.9782940149307251, 1.5684367418289185, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.013923857361078262, -0.039101243019104004, 1.4845120906829834, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.5918593406677246, -1.3616769313812256, 1.2804226875305176, -1.5115967988967896, 1.1182955503463745, 1.6378653049468994, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.013923857361078262, -0.039101243019104004, 1.482604742050171, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.5632486343383789, -1.4658198356628418, 1.3704508543014526, -1.511215329170227, 1.1942092180252075, 1.7034790515899658, -0.0018750601448118687, 0.0018750601448118687], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.013923857361078262, -0.039101243019104004, 1.482604742050171, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.5453193187713623, -1.5337224006652832, 1.4253833293914795, -1.508163571357727, 1.2193865776062012, 1.7645151615142822, -0.011359810829162598, 0.011359810829162598], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.013923857361078262, -0.038719769567251205, 1.482604742050171, 0.10166323184967041, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.5331120491027832, -1.5859845876693726, 1.4703974723815918, -1.508163571357727, 1.2220568656921387, 1.8110551834106445, -0.018026316538453102, 0.018026316538453102], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.013160906732082367, -0.038719769567251205, 1.482604742050171, 0.10128175467252731, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.5258640646934509, -1.6321431398391724, 1.510452389717102, -1.508163571357727, 1.2148088216781616, 1.8415732383728027, -0.01908515766263008, 0.01908515766263008], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.012779430486261845, -0.038719769567251205, 1.4829862117767334, 0.10128175467252731, -1.6340504884719849, -0.00012109801900805905, 0.00012109801900805905, 0.5205233693122864, -1.6737239360809326, 1.5463111400604248, -1.5077821016311646, 1.2113755941390991, 1.8575952053070068, -0.01908515766263008, 0.01908515766263008], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7936598658561707, 0.010109102353453636, -0.03757534176111221, 1.4829862117767334, 0.10128175467252731, -1.6344319581985474, -0.00012109801900805905, 0.00012109801900805905, 0.5159456729888916, -1.7099641561508179, 1.570344090461731, -1.508163571357727, 1.2045090198516846, 1.8648432493209839, -0.0179483350366354, 0.0179483350366354], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7936598658561707, 0.008964675478637218, -0.03643091395497322, 1.484130620956421, 0.10128175467252731, -1.6348134279251099, -0.00012109801900805905, 0.00012109801900805905, 0.5132753252983093, -1.738956332206726, 1.579118013381958, -1.5077821016311646, 1.2037460803985596, 1.8701838254928589, -0.014750500209629536, 0.014750500209629536], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7936598658561707, 0.0078202486038208, -0.035667963325977325, 1.485656499862671, 0.10128175467252731, -1.6351948976516724, -0.00012109801900805905, 0.00012109801900805905, 0.5106050372123718, -1.7572671175003052, 1.579880952835083, -1.5077821016311646, 1.19764244556427, 1.8717098236083984, -0.0036997017450630665, 0.0036997017450630665], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7936598658561707, 0.007057297509163618, -0.035667963325977325, 1.485656499862671, 0.10128175467252731, -1.6351948976516724, -0.00012109801900805905, 0.00012109801900805905, 0.5071717500686646, -1.7633707523345947, 1.5844587087631226, -1.5035858154296875, 1.1949721574783325, 1.8778133392333984, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7936598658561707, 0.007057297509163618, -0.03376058489084244, 1.4852750301361084, 0.09937438368797302, -1.6359578371047974, -0.00012109801900805905, 0.00012109801900805905, 0.506027340888977, -1.7553597688674927, 1.594377040863037, -1.508926510810852, 1.2045090198516846, 1.8705652952194214, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7936598658561707, -0.0009536888683214784, 0.015449759550392628, 1.4852750301361084, 0.07457847148180008, -1.637483835220337, -0.00012109801900805905, 0.00012109801900805905, 0.5029755234718323, -1.7271305322647095, 1.6058213710784912, -1.509689450263977, 1.2098497152328491, 1.8450064659118652, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7738231420516968, -0.08411535620689392, 0.15812161564826965, 1.4852750301361084, -0.05359731614589691, -1.6371023654937744, -0.00012109801900805905, 0.00012109801900805905, 0.4980163276195526, -1.6966124773025513, 1.6142138242721558, -1.5115967988967896, 1.2312123775482178, 1.8167773485183716, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7337682247161865, -0.2504386901855469, 0.35076677799224854, 1.481078863143921, -0.25196459889411926, -1.6287097930908203, -0.00012109801900805905, 0.00012109801900805905, 0.49382010102272034, -1.6714351177215576, 1.6210802793502808, -1.5115967988967896, 1.2594414949417114, 1.7893110513687134, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.648699164390564, -0.47817960381507874, 0.5601968169212341, 1.362821340560913, -0.4804684519767761, -1.5379186868667603, -0.00012109801900805905, 0.00012109801900805905, 0.49267566204071045, -1.655031681060791, 1.6252765655517578, -1.511215329170227, 1.2869077920913696, 1.7660410404205322, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.577744722366333, -0.7215610146522522, 0.7703898549079895, 1.2266346216201782, -0.6860837936401367, -1.4532310962677002, -0.00012109801900805905, 0.00012109801900805905, 0.49191272258758545, -1.6481651067733765, 1.6252765655517578, -1.511215329170227, 1.3178073167800903, 1.7511634826660156, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5739299654960632, -0.9596017599105835, 0.995078980922699, 1.2422751188278198, -0.890554666519165, -1.4917601346969604, -0.00012109801900805905, 0.00012109801900805905, 0.49191272258758545, -1.6439688205718994, 1.6271839141845703, -1.511215329170227, 1.3426032066345215, 1.7462043762207031, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5815594792366028, -1.1667429208755493, 1.205653429031372, 1.3056000471115112, -1.0820554494857788, -1.5569924116134644, -0.00012109801900805905, 0.00012109801900805905, 0.49267566204071045, -1.6432058811187744, 1.6294728517532349, -1.50244140625, 1.3666361570358276, 1.7423895597457886, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5945296287536621, -1.3254368305206299, 1.3776988983154297, 1.3319218158721924, -1.2300678491592407, -1.6176470518112183, -0.00012109801900805905, 0.00012109801900805905, 0.49114975333213806, -1.6432058811187744, 1.6309987306594849, -1.4650568962097168, 1.3826581239700317, 1.728274941444397, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6021591424942017, -1.4318684339523315, 1.5035858154296875, 1.3536659479141235, -1.3235293626785278, -1.6741054058074951, -0.0023884358815848827, 0.0023884358815848827, 0.49000534415245056, -1.642824411392212, 1.6332875490188599, -1.440260887145996, 1.3887617588043213, 1.7191195487976074, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6116960644721985, -1.4982452392578125, 1.592851161956787, 1.3616769313812256, -1.3822766542434692, -1.7160677909851074, -0.013384895399212837, 0.013384895399212837, 0.4888609051704407, -1.642824411392212, 1.6344319581985474, -1.428435206413269, 1.3914320468902588, 1.7103456258773804, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6162737607955933, -1.5383001565933228, 1.6432058811187744, 1.362821340560913, -1.419661283493042, -1.7481117248535156, -0.019796324893832207, 0.019796324893832207, 0.4888609051704407, -1.642824411392212, 1.6344319581985474, -1.4192798137664795, 1.3982986211776733, 1.7042419910430908, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6109330654144287, -1.561570167541504, 1.6657129526138306, 1.3754100799560547, -1.441023826599121, -1.7732890844345093, -0.02175486832857132, 0.02175486832857132, 0.4888609051704407, -1.642824411392212, 1.6355763673782349, -1.415464997291565, 1.4002059698104858, 1.6977568864822388, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6086442470550537, -1.5772106647491455, 1.6729609966278076, 1.3872358798980713, -1.4532310962677002, -1.7896925210952759, -0.023447435349225998, 0.023447435349225998, 0.4888609051704407, -1.642824411392212, 1.638246774673462, -1.4135576486587524, 1.404402256011963, 1.6939421892166138, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6074998378753662, -1.5897992849349976, 1.6752498149871826, 1.3948653936386108, -1.4631494283676147, -1.8030441999435425, -0.023685725405812263, 0.023685725405812263, 0.48962387442588806, -1.6424429416656494, 1.6409170627593994, -1.4120317697525024, 1.4085984230041504, 1.6901273727416992, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6048294901847839, -1.6027694940567017, 1.6756312847137451, 1.406691074371338, -1.4631494283676147, -1.808003306388855, -0.023685725405812263, 0.023685725405812263, 0.49000534415245056, -1.6424429416656494, 1.6432058811187744, -1.409742832183838, 1.413939118385315, 1.6859312057495117, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6036850810050964, -1.6168841123580933, 1.6748683452606201, 1.408979892730713, -1.4627679586410522, -1.812962532043457, -0.023685725405812263, 0.023685725405812263, 0.49114975333213806, -1.642061471939087, 1.644350290298462, -1.409742832183838, 1.418135404586792, 1.6824978590011597, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5998703241348267, -1.6298543214797974, 1.6710536479949951, 1.4101243019104004, -1.4578088521957397, -1.821736454963684, -0.02353682555258274, 0.02353682555258274, 0.49267566204071045, -1.640535593032837, 1.646257758140564, -1.4093613624572754, 1.421950101852417, 1.6802090406417847, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5960555672645569, -1.644731879234314, 1.6672388315200806, 1.41165030002594, -1.4532310962677002, -1.8274586200714111, -0.016366731375455856, 0.016366731375455856, 0.49382010102272034, -1.639772653579712, 1.6474021673202515, -1.408979892730713, 1.422713041305542, 1.6790646314620972, -0.0010978629579767585, 0.0010978629579767585], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5952925682067871, -1.6649500131607056, 1.663805603981018, 1.4127947092056274, -1.4448386430740356, -1.8430991172790527, -0.0019059396581724286, 0.0019059396581724286, 0.49382010102272034, -1.6393911838531494, 1.6481651067733765, -1.4070725440979004, 1.4230945110321045, 1.6786831617355347, -0.0011018227087333798, 0.0011018227087333798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5922408103942871, -1.6809719800949097, 1.663805603981018, 1.412413239479065, -1.4326313734054565, -1.8518730401992798, -0.0015855558449402452, 0.0015855558449402452, 0.49382010102272034, -1.639772653579712, 1.6481651067733765, -1.406691074371338, 1.420424222946167, 1.6786831617355347, -0.0011895246570929885, 0.0011895246570929885], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5941481590270996, -1.6924163103103638, 1.663042664527893, 1.413939118385315, -1.4417868852615356, -1.8492027521133423, -0.0015686160186305642, 0.0015686160186305642, 0.49382010102272034, -1.637483835220337, 1.6531243324279785, -1.4055466651916504, 1.410887360572815, 1.6672388315200806, -0.0070942784659564495, 0.0070942784659564495], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5907148718833923, -1.6935607194900513, 1.666094422340393, 1.41165030002594, -1.4375905990600586, -1.8541618585586548, -0.0015222302172333002, 0.0015222302172333002, 0.49382010102272034, -1.6283283233642578, 1.659609317779541, -1.4093613624572754, 1.402876377105713, 1.6641870737075806, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5834668278694153, -1.6897459030151367, 1.667620301246643, 1.41470205783844, -1.4417868852615356, -1.8564507961273193, -0.0015222302172333002, 0.0015222302172333002, 0.4854276478290558, -1.591325283050537, 1.6664758920669556, -1.4078354835510254, 1.3807507753372192, 1.6546502113342285, -0.014750500209629536, 0.014750500209629536], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5746929049491882, -1.6744868755340576, 1.6805905103683472, 1.415464997291565, -1.4482718706130981, -1.8518730401992798, -0.0015222302172333002, 0.0015222302172333002, 0.46368351578712463, -1.5203708410263062, 1.6325246095657349, -1.408216953277588, 1.351758599281311, 1.6306172609329224, -0.008467355743050575, 0.008467355743050575], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5563820600509644, -1.653505802154541, 1.7053864002227783, 1.439497947692871, -1.4894713163375854, -1.8263142108917236, -0.0015222302172333002, 0.0015222302172333002, 0.43202105164527893, -1.4112688302993774, 1.5249484777450562, -1.409742832183838, 1.2960631847381592, 1.5901808738708496, -0.00098403578158468, 0.00098403578158468], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5052643418312073, -1.6245136260986328, 1.722934365272522, 1.4757381677627563, -1.5337224006652832, -1.7900739908218384, -0.0015222302172333002, 0.0015222302172333002, 0.4015030264854431, -1.27927827835083, 1.3662546873092651, -1.409742832183838, 1.2151904106140137, 1.5466926097869873, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43202105164527893, -1.5947585105895996, 1.7248417139053345, 1.4940489530563354, -1.5619516372680664, -1.7530708312988281, -0.0015222302172333002, 0.0015222302172333002, 0.387006938457489, -1.1472877264022827, 1.185816764831543, -1.409742832183838, 1.1285953521728516, 1.514648675918579, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3576333224773407, -1.5756847858428955, 1.7057678699493408, 1.5085450410842896, -1.5802624225616455, -1.7221713066101074, -0.0015222302172333002, 0.0015222302172333002, 0.38090333342552185, -1.041237473487854, 1.021400809288025, -1.408216953277588, 1.0473411083221436, 1.50244140625, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2969787120819092, -1.5676738023757935, 1.6710536479949951, 1.515411615371704, -1.583314299583435, -1.6939421892166138, -0.0015222302172333002, 0.0015222302172333002, 0.3778515160083771, -0.967994213104248, 0.8962767720222473, -1.408979892730713, 0.9782940149307251, 1.5020599365234375, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25310903787612915, -1.560807228088379, 1.6294728517532349, 1.515411615371704, -1.565384864807129, -1.6733424663543701, -0.0015222302172333002, 0.0015222302172333002, 0.3778515160083771, -0.9298466444015503, 0.8073930144309998, -1.408979892730713, 0.927176296710968, 1.503204345703125, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22068360447883606, -1.560807228088379, 1.595902919769287, 1.5157930850982666, -1.5344853401184082, -1.6554131507873535, -0.0015222302172333002, 0.0015222302172333002, 0.3774700462818146, -0.9107728600502014, 0.7528420090675354, -1.408979892730713, 0.89131760597229, 1.5093079805374146, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20160982012748718, -1.563858985900879, 1.5714884996414185, 1.516174554824829, -1.5028228759765625, -1.644350290298462, -0.0016966051189228892, 0.0016966051189228892, 0.3774700462818146, -0.9004730582237244, 0.7234683632850647, -1.408216953277588, 0.8672846555709839, 1.514648675918579, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18673227727413177, -1.565384864807129, 1.5539406538009644, 1.5157930850982666, -1.4726864099502563, -1.639772653579712, -0.007865306921303272, 0.007865306921303272, 0.3770885765552521, -0.8947508931159973, 0.7074463963508606, -1.408216953277588, 0.848210871219635, 1.518463373184204, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17414358258247375, -1.5650033950805664, 1.5432593822479248, 1.516174554824829, -1.4501793384552002, -1.6371023654937744, -0.012300288304686546, 0.012300288304686546, 0.3755626678466797, -0.89131760597229, 0.700579822063446, -1.4085984230041504, 0.8333333134651184, 1.518463373184204, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16956588625907898, -1.5524147748947144, 1.5363928079605103, 1.5165560245513916, -1.436446189880371, -1.6336690187454224, -0.004358032252639532, 0.004358032252639532, 0.36449989676475525, -0.889028787612915, 0.7040131092071533, -1.4070725440979004, 0.8234149813652039, 1.5108338594436646, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17681391537189484, -1.519226312637329, 1.513885736465454, 1.5188448429107666, -1.415464997291565, -1.6248950958251953, -6.416223186533898e-05, 6.416223186533898e-05, 0.3290226459503174, -0.8882657885551453, 0.7219424843788147, -1.4070725440979004, 0.8173113465309143, 1.4917601346969604, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1993209719657898, -1.4662013053894043, 1.4673457145690918, 1.519226312637329, -1.3773174285888672, -1.6149767637252808, -6.416223186533898e-05, 6.416223186533898e-05, 0.2660791873931885, -0.8993285894393921, 0.760471522808075, -1.407454013824463, 0.8329518437385559, 1.4635308980941772, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23517967760562897, -1.3937208652496338, 1.3910505771636963, 1.519226312637329, -1.3231478929519653, -1.6103990077972412, -6.416223186533898e-05, 6.416223186533898e-05, 0.1844434291124344, -0.9420538544654846, 0.8218890428543091, -1.4112688302993774, 0.882543683052063, 1.437209129333496, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28553444147109985, -1.3109407424926758, 1.3002593517303467, 1.518463373184204, -1.2556267976760864, -1.6107804775238037, -6.416223186533898e-05, 6.416223186533898e-05, 0.11120012402534485, -1.0210193395614624, 0.8981841802597046, -1.4135576486587524, 0.9538795948028564, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34542611241340637, -1.2273975610733032, 1.2006943225860596, 1.5165560245513916, -1.1919203996658325, -1.6191729307174683, -6.416223186533898e-05, 6.416223186533898e-05, 0.06275273114442825, -1.117151141166687, 0.9740977883338928, -1.413939118385315, 1.024452567100525, 1.41622793674469, -0.00344504090026021, 0.00344504090026021], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4072251319885254, -1.1533913612365723, 1.110666036605835, 1.516174554824829, -1.1308842897415161, -1.6355763673782349, -6.416223186533898e-05, 6.416223186533898e-05, 0.039101243019104004, -1.204127550125122, 1.0313191413879395, -1.41317617893219, 1.0709925889968872, 1.4173723459243774, -0.01566539704799652, 0.01566539704799652], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46253910660743713, -1.100366234779358, 1.044670820236206, 1.516174554824829, -1.0870145559310913, -1.654268741607666, -6.416223186533898e-05, 6.416223186533898e-05, 0.024986648932099342, -1.275844931602478, 1.0744259357452393, -1.413939118385315, 1.0889219045639038, 1.438735008239746, -0.01930207386612892, 0.01930207386612892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5121309161186218, -1.0675593614578247, 1.0023269653320312, 1.516174554824829, -1.0618371963500977, -1.6725795269012451, -6.416223186533898e-05, 6.416223186533898e-05, 0.016594186425209045, -1.3345922231674194, 1.109140157699585, -1.4135576486587524, 1.0889219045639038, 1.4608606100082397, -0.019292205572128296, 0.019292205572128296], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5518043637275696, -1.0496299266815186, 0.9798199534416199, 1.5157930850982666, -1.041237473487854, -1.6859312057495117, -6.416223186533898e-05, 6.416223186533898e-05, 0.011635004542768002, -1.3776988983154297, 1.1324101686477661, -1.413939118385315, 1.0858701467514038, 1.4757381677627563, -0.019272472709417343, 0.019272472709417343], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.576981782913208, -1.043907880783081, 0.9714275002479553, 1.5142672061920166, -1.0282673835754395, -1.6958495378494263, -6.416223186533898e-05, 6.416223186533898e-05, 0.010872052982449532, -1.4185168743133545, 1.1465247869491577, -1.413939118385315, 1.0805294513702393, 1.4887083768844604, -0.017909370362758636, 0.017909370362758636], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5918593406677246, -1.042763352394104, 0.9676127433776855, 1.510452389717102, -1.022926688194275, -1.6985198259353638, -6.416223186533898e-05, 6.416223186533898e-05, 0.011635004542768002, -1.4497978687286377, 1.1495765447616577, -1.413939118385315, 1.0675593614578247, 1.4940489530563354, -0.010465349070727825, 0.010465349070727825], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5991073250770569, -1.042000412940979, 0.9660868048667908, 1.5085450410842896, -1.0194933414459229, -1.7015717029571533, -6.416223186533898e-05, 6.416223186533898e-05, 0.012779430486261845, -1.4654383659362793, 1.1575875282287598, -1.4135576486587524, 1.053444743156433, 1.504348874092102, -0.0007508841226808727, 0.0007508841226808727], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6010147333145142, -1.043907880783081, 0.9664682745933533, 1.5085450410842896, -1.0179674625396729, -1.7019531726837158, -6.416223186533898e-05, 6.416223186533898e-05, 0.02536812424659729, -1.4723048210144043, 1.180857539176941, -1.4158464670181274, 1.0599298477172852, 1.5108338594436646, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6006332635879517, -1.0545891523361206, 0.9760051965713501, 1.501678466796875, -1.0164415836334229, -1.7000458240509033, -6.416223186533898e-05, 6.416223186533898e-05, 0.06961929053068161, -1.4700160026550293, 1.2289234399795532, -1.4158464670181274, 1.0851072072982788, 1.5196079015731812, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5701152086257935, -1.0843442678451538, 1.0038528442382812, 1.4135576486587524, -1.0164415836334229, -1.6386282444000244, -6.416223186533898e-05, 6.416223186533898e-05, 0.15354390442371368, -1.4711604118347168, 1.2964446544647217, -1.434157371520996, 1.11295485496521, 1.5440223217010498, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.543411910533905, -1.1377508640289307, 1.0622186660766602, 1.3410773277282715, -1.0183489322662354, -1.5909438133239746, -6.416223186533898e-05, 6.416223186533898e-05, 0.27027541399002075, -1.49786376953125, 1.3864728212356567, -1.4974822998046875, 1.1614023447036743, 1.593614101409912, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -1.2163348197937012, 1.1594948768615723, 1.3178073167800903, -1.053444743156433, -1.5829328298568726, -6.416223186533898e-05, 6.416223186533898e-05, 0.3580147922039032, -1.5466926097869873, 1.4887083768844604, -1.49786376953125, 1.2170977592468262, 1.639772653579712, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5407415628433228, -1.3029297590255737, 1.275081992149353, 1.3498512506484985, -1.1152437925338745, -1.6092545986175537, -6.416223186533898e-05, 6.416223186533898e-05, 0.4087510406970978, -1.5882734060287476, 1.5566109418869019, -1.433012843132019, 1.255245327949524, 1.6756312847137451, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5479896068572998, -1.3830395936965942, 1.3876173496246338, 1.3704508543014526, -1.180857539176941, -1.6355763673782349, -6.416223186533898e-05, 6.416223186533898e-05, 0.4518577754497528, -1.6149767637252808, 1.5981918573379517, -1.3860913515090942, 1.2804226875305176, 1.7088197469711304, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5605783462524414, -1.4475089311599731, 1.4806973934173584, 1.3826581239700317, -1.2369344234466553, -1.658083438873291, -0.006874307990074158, 0.006874307990074158, 0.4716945290565491, -1.6283283233642578, 1.6241321563720703, -1.3681620359420776, 1.2975890636444092, 1.7328526973724365, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5746929049491882, -1.4902342557907104, 1.5432593822479248, 1.3891432285308838, -1.2708858251571655, -1.6771572828292847, -0.01973692886531353, 0.01973692886531353, 0.4839017391204834, -1.637483835220337, 1.6363393068313599, -1.355954885482788, 1.3216220140457153, 1.7416266202926636, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5827038884162903, -1.516937494277954, 1.580643892288208, 1.405928134918213, -1.2949187755584717, -1.6989012956619263, -0.01973692886531353, 0.01973692886531353, 0.49191272258758545, -1.641298532485962, 1.644731879234314, -1.344510555267334, 1.3384069204330444, 1.742008090019226, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5842298269271851, -1.5310521125793457, 1.597428798675537, 1.430724024772644, -1.3048371076583862, -1.718738079071045, -0.01973692886531353, 0.01973692886531353, 0.49267566204071045, -1.642824411392212, 1.652742862701416, -1.3418402671813965, 1.3483253717422485, 1.739719271659851, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5796520709991455, -1.5394445657730103, 1.5993362665176392, 1.4456015825271606, -1.3109407424926758, -1.730945348739624, -0.019292205572128296, 0.019292205572128296, 0.4961089491844177, -1.644350290298462, 1.659609317779541, -1.335736632347107, 1.360532522201538, 1.7286564111709595, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5716410875320435, -1.5440223217010498, 1.5901808738708496, 1.4562828540802002, -1.3139925003051758, -1.739719271659851, -0.018858788534998894, 0.018858788534998894, 0.4972533881664276, -1.644350290298462, 1.6672388315200806, -1.3345922231674194, 1.3677805662155151, 1.7198824882507324, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -1.5485999584197998, 1.5787365436553955, 1.4608606100082397, -1.3147554397583008, -1.7439154386520386, -0.018799809738993645, 0.018799809738993645, 0.49420157074928284, -1.644731879234314, 1.6725795269012451, -1.334973692893982, 1.3723583221435547, 1.7130159139633179, -0.0009801452979445457, 0.0009801452979445457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5575265288352966, -1.5524147748947144, 1.566147804260254, 1.4585717916488647, -1.3143739700317383, -1.7507820129394531, -0.012993072159588337, 0.012993072159588337, 0.49496451020240784, -1.6451133489608765, 1.6756312847137451, -1.3319218158721924, 1.3727397918701172, 1.7061493396759033, -0.00098403578158468, 0.00098403578158468], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5540932416915894, -1.5573738813400269, 1.5577553510665894, 1.4524681568145752, -1.3090333938598633, -1.7545968294143677, -0.0016195508651435375, 0.0016195508651435375, 0.49267566204071045, -1.645494818687439, 1.6771572828292847, -1.3265812397003174, 1.3735027313232422, 1.7027161121368408, -0.0009918237337842584, 0.0009918237337842584], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5521858334541321, -1.5642404556274414, 1.5543221235275269, 1.4574273824691772, -1.3052185773849487, -1.7561227083206177, -0.0013354785041883588, 0.0013354785041883588, 0.49114975333213806, -1.645494818687439, 1.6802090406417847, -1.3250553607940674, 1.3776988983154297, 1.6924163103103638, -0.0018618630710989237, 0.0018618630710989237], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5491340756416321, -1.571869969367981, 1.5512703657150269, 1.4791713953018188, -1.335736632347107, -1.7481117248535156, -0.0013313828967511654, 0.0013313828967511654, 0.4892423748970032, -1.6424429416656494, 1.6882200241088867, -1.3403143882751465, 1.3731212615966797, 1.6802090406417847, -0.010669770650565624, 0.010669770650565624], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5464637279510498, -1.574158787727356, 1.5535591840744019, 1.4803158044815063, -1.3162813186645508, -1.7492561340332031, -0.0013313828967511654, 0.0013313828967511654, 0.4854276478290558, -1.6279468536376953, 1.6950865983963013, -1.345273494720459, 1.351758599281311, 1.6790646314620972, -0.013971172273159027, 0.013971172273159027], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.541886031627655, -1.5707255601882935, 1.5539406538009644, 1.4639123678207397, -1.3216220140457153, -1.742008090019226, -0.0013313828967511654, 0.0013313828967511654, 0.47589075565338135, -1.5897992849349976, 1.6844053268432617, -1.3273441791534424, 1.336499571800232, 1.6611353158950806, -0.009869772009551525, 0.009869772009551525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5224307775497437, -1.5573738813400269, 1.5539406538009644, 1.4734493494033813, -1.3208590745925903, -1.7301822900772095, -0.0013313828967511654, 0.0013313828967511654, 0.44651713967323303, -1.497100830078125, 1.6069657802581787, -1.3391698598861694, 1.2876707315444946, 1.6245136260986328, -0.00018204888328909874, 0.00018204888328909874], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4812313914299011, -1.5375372171401978, 1.5558480024337769, 1.4635308980941772, -1.3254368305206299, -1.7042419910430908, -0.0013313828967511654, 0.0013313828967511654, 0.4232471287250519, -1.3666361570358276, 1.4524681568145752, -1.3307774066925049, 1.2155718803405762, 1.573395848274231, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41218432784080505, -1.5234225988388062, 1.5558480024337769, 1.4719233512878418, -1.339932918548584, -1.6783016920089722, -0.0013313828967511654, 0.0013313828967511654, 0.3995956480503082, -1.2167162895202637, 1.261730432510376, -1.3391698598861694, 1.122110366821289, 1.5314335823059082, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3385595381259918, -1.5150301456451416, 1.5485999584197998, 1.4738308191299438, -1.3506141901016235, -1.654268741607666, -0.0013313828967511654, 0.0013313828967511654, 0.3919661343097687, -1.0618371963500977, 1.0576409101486206, -1.3303959369659424, 1.0282673835754395, 1.5020599365234375, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2790493667125702, -1.5127413272857666, 1.5383001565933228, 1.4707789421081543, -1.354810357093811, -1.6340504884719849, -0.0013313828967511654, 0.0013313828967511654, 0.38319218158721924, -0.9481574892997742, 0.8981841802597046, -1.335736632347107, 0.9626535177230835, 1.4948118925094604, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23479819297790527, -1.5215152502059937, 1.5253299474716187, 1.4707789421081543, -1.3578622341156006, -1.6184099912643433, -0.0013313828967511654, 0.0013313828967511654, 0.38357365131378174, -0.8741512298583984, 0.7845044732093811, -1.3315403461456299, 0.9138246774673462, 1.495193362236023, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -1.5341038703918457, 1.512359857559204, 1.4703974723815918, -1.3544288873672485, -1.6065843105316162, -0.0013806844362989068, 0.0013806844362989068, 0.37937742471694946, -0.8356221914291382, 0.7154573798179626, -1.334973692893982, 0.8741512298583984, 1.5035858154296875, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20122835040092468, -1.5398260354995728, 1.493667483329773, 1.4639123678207397, -1.3319218158721924, -1.6027694940567017, -0.007836420089006424, 0.007836420089006424, 0.38166627287864685, -0.8142595291137695, 0.6776912808418274, -1.3323034048080444, 0.8562218546867371, 1.5115967988967896, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19207294285297394, -1.5417333841323853, 1.4787899255752563, 1.4703974723815918, -1.3128480911254883, -1.6031509637832642, -0.012552966363728046, 0.012552966363728046, 0.38052186369895935, -0.7967116832733154, 0.6582360863685608, -1.334210753440857, 0.8382925391197205, 1.518463373184204, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18978407979011536, -1.5268558263778687, 1.4662013053894043, 1.4681086540222168, -1.3029297590255737, -1.6027694940567017, -0.01312617864459753, 0.01312617864459753, 0.38090333342552185, -0.7673380374908447, 0.6456473469734192, -1.3323034048080444, 0.8161669373512268, 1.5180819034576416, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19169145822525024, -1.4749752283096313, 1.431486964225769, 1.4677271842956543, -1.2804226875305176, -1.595139980316162, -0.0037427491042762995, 0.0037427491042762995, 0.38052186369895935, -0.7154573798179626, 0.6300068497657776, -1.3330663442611694, 0.7822155952453613, 1.4993896484375, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20962081849575043, -1.3776988983154297, 1.352521538734436, 1.4684901237487793, -1.2281605005264282, -1.586366057395935, -0.00012109801900805905, 0.00012109801900805905, 0.38090333342552185, -0.6280995011329651, 0.5975814461708069, -1.3323034048080444, 0.7288090586662292, 1.4673457145690918, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24128328263759613, -1.2384604215621948, 1.2170977592468262, 1.4673457145690918, -1.1377508640289307, -1.581406831741333, -0.00012109801900805905, 0.00012109801900805905, 0.3904402256011963, -0.5006866455078125, 0.5373083353042603, -1.3338292837142944, 0.6395437717437744, 1.433012843132019, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28820478916168213, -1.0523003339767456, 1.0336079597473145, 1.4684901237487793, -0.9832532405853271, -1.590562343597412, -0.00012109801900805905, 0.00012109801900805905, 0.42858776450157166, -0.34695202112197876, 0.4495689272880554, -1.3315403461456299, 0.5239566564559937, 1.3883802890777588, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3583962619304657, -0.8451590538024902, 0.8203631639480591, 1.4669642448425293, -0.7898451089859009, -1.6054397821426392, -0.00012446616892702878, 0.00012446616892702878, 0.5006866455078125, -0.1966506391763687, 0.3423742949962616, -1.3319218158721924, 0.386243999004364, 1.3403143882751465, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.438506156206131, -0.6357290148735046, 0.6044480204582214, 1.4673457145690918, -0.5632486343383789, -1.6199358701705933, -0.00012109801900805905, 0.00012109801900805905, 0.5876630544662476, -0.07801175117492676, 0.23212787508964539, -1.3315403461456299, 0.22678720951080322, 1.3235293626785278, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5209048390388489, -0.4503318965435028, 0.4198138415813446, 1.4669642448425293, -0.35114824771881104, -1.6264209747314453, -0.00012446616892702878, 0.00012446616892702878, 0.655947208404541, -0.0036240178160369396, 0.13866636157035828, -1.3315403461456299, 0.08907453715801239, 1.344510555267334, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5937666893005371, -0.30460822582244873, 0.2767605185508728, 1.4673457145690918, -0.20084688067436218, -1.6268024444580078, -0.00012109801900805905, 0.00012109801900805905, 0.6921873688697815, 0.0398641936480999, 0.06542305648326874, -1.3315403461456299, -0.002861066721379757, 1.3918135166168213, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6589990258216858, -0.19130998849868774, 0.17910276353359222, 1.4669642448425293, -0.10051880776882172, -1.6298543214797974, -0.00012109801900805905, 0.00012109801900805905, 0.7139315009117126, 0.06656748056411743, 0.013542382046580315, -1.3315403461456299, -0.05855649709701538, 1.440260887145996, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7097352743148804, -0.10929274559020996, 0.11120012402534485, 1.4669642448425293, -0.0398641936480999, -1.6298543214797974, -0.00012109801900805905, 0.00012109801900805905, 0.733386754989624, 0.07686731964349747, -0.021553369238972664, -1.3311588764190674, -0.07038223743438721, 1.4719233512878418, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7417792081832886, -0.053215838968753815, 0.06885633617639542, 1.4669642448425293, -0.0020981156267225742, -1.6298543214797974, -0.00012109801900805905, 0.00012109801900805905, 0.768482506275177, 0.07267109304666519, -0.04177157208323479, -1.3319218158721924, -0.09403372555971146, 1.4742122888565063, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7574197053909302, -0.01735713705420494, 0.04177157208323479, 1.4673457145690918, 0.018501564860343933, -1.6298543214797974, -0.00012109801900805905, 0.00012109801900805905, 0.8188372850418091, 0.040627144277095795, -0.04711223021149635, -1.3323034048080444, -0.1035706102848053, 1.4353017807006836, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.768482506275177, 0.009727626107633114, 0.023079270496964455, 1.4673457145690918, 0.03223468363285065, -1.6294728517532349, -0.00012446616892702878, 0.00012446616892702878, 0.8638513684272766, -0.004386968910694122, -0.035667963325977325, -1.3345922231674194, -0.10929274559020996, 1.3879988193511963, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7761120200157166, 0.028038453310728073, 0.006294346414506435, 1.4673457145690918, 0.0398641936480999, -1.6298543214797974, -0.00012109801900805905, 0.00012109801900805905, 0.8878843188285828, -0.02994582988321781, -0.029564354568719864, -1.3345922231674194, -0.10891126841306686, 1.3601510524749756, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7887006998062134, 0.032616160809993744, -0.013923857361078262, 1.4677271842956543, 0.05397878959774971, -1.6206988096237183, -0.00012446616892702878, 0.00012446616892702878, 0.8997100591659546, -0.04291599988937378, -0.02689402550458908, -1.334210753440857, -0.10929274559020996, 1.346036434173584, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8054856061935425, 0.030708782374858856, -0.028038453310728073, 1.4692530632019043, 0.07572289556264877, -1.6054397821426392, -0.00012109801900805905, 0.00012109801900805905, 0.9042877554893494, -0.05283436179161072, -0.02384222112596035, -1.334210753440857, -0.10929274559020996, 1.3391698598861694, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.810826301574707, 0.024605173617601395, -0.03452353551983833, 1.4703974723815918, 0.08449683338403702, -1.5985733270645142, -0.00012109801900805905, 0.00012109801900805905, 0.9069581031799316, -0.06084534898400307, -0.02040894143283367, -1.334210753440857, -0.10967422276735306, 1.3376439809799194, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, 0.02193484455347061, -0.037193864583969116, 1.4707789421081543, 0.09441519528627396, -1.595139980316162, -0.00012109801900805905, 0.00012109801900805905, 0.9081025123596191, -0.06542305648326874, -0.018501564860343933, -1.334210753440857, -0.10929274559020996, 1.334210753440857, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8146410584449768, 0.021171892061829567, -0.0394827201962471, 1.4703974723815918, 0.09822995215654373, -1.5939955711364746, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.06809338182210922, -0.01735713705420494, -1.3338292837142944, -0.10852979123592377, 1.3311588764190674, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8119707107543945, 0.022697795182466507, -0.04139009863138199, 1.4703974723815918, 0.09899290651082993, -1.595902919769287, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07000076025724411, -0.016975661739706993, -1.3338292837142944, -0.10738536715507507, 1.3307774066925049, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8112077713012695, 0.023460745811462402, -0.042153049260377884, 1.4703974723815918, 0.10166323184967041, -1.596665859222412, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3338292837142944, -0.10585946589708328, 1.3300144672393799, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8096818327903748, 0.02384222112596035, -0.04253452271223068, 1.4703974723815918, 0.10166323184967041, -1.6000992059707642, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3338292837142944, -0.10585946589708328, 1.3277256488800049, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8093003630638123, 0.024223696440458298, -0.04253452271223068, 1.4703974723815918, 0.10166323184967041, -1.6004806756973267, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3338292837142944, -0.10585946589708328, 1.3277256488800049, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8093003630638123, 0.024223696440458298, -0.04253452271223068, 1.4707789421081543, 0.10166323184967041, -1.6008621454238892, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3338292837142944, -0.10585946589708328, 1.3277256488800049, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8093003630638123, 0.024223696440458298, -0.04253452271223068, 1.4707789421081543, 0.10166323184967041, -1.6035324335098267, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3338292837142944, -0.10624094307422638, 1.3277256488800049, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8085374236106873, 0.023460745811462402, -0.04253452271223068, 1.4707789421081543, 0.10166323184967041, -1.6035324335098267, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.333447813987732, -0.10776684433221817, 1.3284885883331299, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8089188933372498, 0.02193484455347061, -0.04253452271223068, 1.4707789421081543, 0.10166323184967041, -1.6035324335098267, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3315403461456299, -0.10891126841306686, 1.3315403461456299, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8154039978981018, 0.02040894143283367, -0.04177157208323479, 1.4707789421081543, 0.10166323184967041, -1.5985733270645142, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3315403461456299, -0.10891126841306686, 1.3315403461456299, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8188372850418091, 0.02040894143283367, -0.04177157208323479, 1.4711604118347168, 0.10166323184967041, -1.5962843894958496, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3315403461456299, -0.10891126841306686, 1.3315403461456299, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8188372850418091, 0.02040894143283367, -0.04177157208323479, 1.5020599365234375, 0.10204470902681351, -1.6248950958251953, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3319218158721924, -0.10891126841306686, 1.3319218158721924, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8188372850418091, 0.02040894143283367, -0.04177157208323479, 1.5245670080184937, 0.10204470902681351, -1.6458762884140015, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3323034048080444, -0.10891126841306686, 1.3323034048080444, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, 0.02040894143283367, -0.04177157208323479, 1.5268558263778687, 0.10204470902681351, -1.645494818687439, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.334210753440857, -0.10929274559020996, 1.332684874534607, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, 0.02040894143283367, -0.04177157208323479, 1.5238040685653687, 0.10204470902681351, -1.6409170627593994, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.334210753440857, -0.10929274559020996, 1.3330663442611694, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, 0.02040894143283367, -0.04177157208323479, 1.5234225988388062, 0.1024261862039566, -1.6363393068313599, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.334210753440857, -0.10929274559020996, 1.3345922231674194, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, 0.020027466118335724, -0.04177157208323479, 1.5230411291122437, 0.1024261862039566, -1.6336690187454224, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.334210753440857, -0.10929274559020996, 1.3345922231674194, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, 0.020027466118335724, -0.04177157208323479, 1.5211337804794312, 0.1024261862039566, -1.6348134279251099, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3338292837142944, -0.10929274559020996, 1.3345922231674194, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8161669373512268, 0.02040894143283367, -0.04177157208323479, 1.5188448429107666, 0.1024261862039566, -1.642824411392212, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3338292837142944, -0.10929274559020996, 1.3345922231674194, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8119707107543945, 0.02040894143283367, -0.04177157208323479, 1.519226312637329, 0.1024261862039566, -1.645494818687439, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3338292837142944, -0.10929274559020996, 1.3345922231674194, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.811589241027832, 0.02040894143283367, -0.04177157208323479, 1.519226312637329, 0.1024261862039566, -1.646257758140564, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3338292837142944, -0.10967422276735306, 1.3345922231674194, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.811589241027832, 0.02040894143283367, -0.04177157208323479, 1.519226312637329, 0.1024261862039566, -1.648546576499939, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3338292837142944, -0.10967422276735306, 1.3345922231674194, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.811589241027832, 0.02040894143283367, -0.04177157208323479, 1.519226312637329, 0.1024261862039566, -1.648546576499939, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3338292837142944, -0.10967422276735306, 1.334210753440857, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8119707107543945, 0.02040894143283367, -0.04177157208323479, 1.519226312637329, 0.10204470902681351, -1.6481651067733765, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.333447813987732, -0.10967422276735306, 1.334210753440857, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8119707107543945, 0.02040894143283367, -0.04177157208323479, 1.5188448429107666, 0.1024261862039566, -1.6481651067733765, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.333447813987732, -0.10967422276735306, 1.3338292837142944, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8112077713012695, 0.02040894143283367, -0.04177157208323479, 1.5188448429107666, 0.1024261862039566, -1.648546576499939, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.333447813987732, -0.10967422276735306, 1.3338292837142944, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8081559538841248, 0.02040894143283367, -0.04177157208323479, 1.5188448429107666, 0.1024261862039566, -1.649309515953064, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.333447813987732, -0.10967422276735306, 1.3338292837142944, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8062485456466675, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.652742862701416, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.333447813987732, -0.10967422276735306, 1.3338292837142944, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6531243324279785, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.3330663442611694, -0.10967422276735306, 1.3330663442611694, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, 0.02040894143283367, -0.04177157208323479, 1.5180819034576416, 0.10204470902681351, -1.656557559967041, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.332684874534607, -0.10967422276735306, 1.3319218158721924, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, 0.02040894143283367, -0.04177157208323479, 1.5180819034576416, 0.10204470902681351, -1.656557559967041, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.332684874534607, -0.10967422276735306, 1.3319218158721924, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8031967878341675, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.10204470902681351, -1.657320499420166, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.332684874534607, -0.10967422276735306, 1.3315403461456299, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.802815318107605, 0.02040894143283367, -0.04177157208323479, 1.5180819034576416, 0.1024261862039566, -1.6603723764419556, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.332684874534607, -0.10967422276735306, 1.3319218158721924, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8020523190498352, 0.02040894143283367, -0.04177157208323479, 1.5180819034576416, 0.10204470902681351, -1.6603723764419556, -0.00012446616892702878, 0.00012446616892702878, 0.9088655114173889, -0.07038223743438721, -0.016594186425209045, -1.332684874534607, -0.10929274559020996, 1.3323034048080444, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8012893795967102, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6603723764419556, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07038223743438721, -0.016975661739706993, -1.3330663442611694, -0.10929274559020996, 1.333447813987732, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8001449704170227, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.10204470902681351, -1.6603723764419556, -0.00012109801900805905, 0.00012109801900805905, 0.9088655114173889, -0.07000076025724411, -0.01773861236870289, -1.347943902015686, -0.11005569249391556, 1.3521400690078735, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7978560924530029, 0.02040894143283367, -0.04177157208323479, 1.5180819034576416, 0.1024261862039566, -1.660753846168518, -0.00012446616892702878, 0.00012446616892702878, 0.9050507545471191, -0.06809338182210922, -0.01926451548933983, -1.425764799118042, -0.11043716967105865, 1.425001859664917, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7974746227264404, 0.02040894143283367, -0.04177157208323479, 1.5180819034576416, 0.1024261862039566, -1.6641870737075806, -0.00012109801900805905, 0.00012109801900805905, 0.9004730582237244, -0.06847485899925232, -0.020027466118335724, -1.4555199146270752, -0.11272602528333664, 1.4528496265411377, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7967116832733154, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.664568543434143, -0.00012109801900805905, 0.00012109801900805905, 0.8989471197128296, -0.06847485899925232, -0.021171892061829567, -1.4654383659362793, -0.11310750246047974, 1.4631494283676147, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7955672740936279, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6649500131607056, -0.00012109801900805905, 0.00012109801900805905, 0.8985656499862671, -0.06847485899925232, -0.021171892061829567, -1.4658198356628418, -0.11463340371847153, 1.4627679586410522, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.10204470902681351, -1.666094422340393, -0.00012109801900805905, 0.00012109801900805905, 0.8981841802597046, -0.06847485899925232, -0.021171892061829567, -1.4585717916488647, -0.11615930497646332, 1.4578088521957397, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.10204470902681351, -1.6680018901824951, -0.00012109801900805905, 0.00012109801900805905, 0.8981841802597046, -0.06847485899925232, -0.021171892061829567, -1.4547569751739502, -0.11577782779932022, 1.4517052173614502, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6680018901824951, -0.00012446616892702878, 0.00012446616892702878, 0.8970397710800171, -0.06847485899925232, -0.020027466118335724, -1.4513237476348877, -0.11310750246047974, 1.4513237476348877, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.10204470902681351, -1.6680018901824951, -0.00012109801900805905, 0.00012109801900805905, 0.8962767720222473, -0.06847485899925232, -0.01926451548933983, -1.4478904008865356, -0.11272602528333664, 1.4513237476348877, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6680018901824951, -0.00012446616892702878, 0.00012446616892702878, 0.8962767720222473, -0.06847485899925232, -0.01926451548933983, -1.4475089311599731, -0.11196307092905045, 1.4513237476348877, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6680018901824951, -0.00012109801900805905, 0.00012109801900805905, 0.8962767720222473, -0.06847485899925232, -0.01926451548933983, -1.4475089311599731, -0.11081864684820175, 1.4513237476348877, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.667620301246643, -0.00012109801900805905, 0.00012109801900805905, 0.8962767720222473, -0.06847485899925232, -0.01926451548933983, -1.4478904008865356, -0.11043716967105865, 1.4513237476348877, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.667620301246643, -0.00012446616892702878, 0.00012446616892702878, 0.8962767720222473, -0.06847485899925232, -0.01926451548933983, -1.4475089311599731, -0.11043716967105865, 1.4513237476348877, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6672388315200806, -0.00012446616892702878, 0.00012446616892702878, 0.8962767720222473, -0.06847485899925232, -0.01926451548933983, -1.4475089311599731, -0.11081864684820175, 1.4513237476348877, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.666857361793518, -0.00012446616892702878, 0.00012446616892702878, 0.8962767720222473, -0.06847485899925232, -0.01926451548933983, -1.4475089311599731, -0.11081864684820175, 1.4513237476348877, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.666857361793518, -0.00012109801900805905, 0.00012109801900805905, 0.8962767720222473, -0.06847485899925232, -0.01926451548933983, -1.4475089311599731, -0.11081864684820175, 1.4513237476348877, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.666857361793518, -0.00012446616892702878, 0.00012446616892702878, 0.8962767720222473, -0.06847485899925232, -0.01926451548933983, -1.4475089311599731, -0.11081864684820175, 1.4513237476348877, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6664758920669556, -0.00012109801900805905, 0.00012109801900805905, 0.8958953022956848, -0.06847485899925232, -0.01926451548933983, -1.4475089311599731, -0.11081864684820175, 1.4517052173614502, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6664758920669556, -0.00012446616892702878, 0.00012446616892702878, 0.8943694233894348, -0.06847485899925232, -0.01926451548933983, -1.4475089311599731, -0.11120012402534485, 1.4559013843536377, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7948042750358582, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.666094422340393, -0.00012109801900805905, 0.00012109801900805905, 0.8936064839363098, -0.06847485899925232, -0.01926451548933983, -1.4467459917068481, -0.11120012402534485, 1.4597162008285522, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7951858043670654, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.10204470902681351, -1.664568543434143, -0.00012109801900805905, 0.00012109801900805905, 0.8924620151519775, -0.06847485899925232, -0.01926451548933983, -1.4471274614334106, -0.11120012402534485, 1.4631494283676147, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7951858043670654, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6641870737075806, -0.00012446616892702878, 0.00012446616892702878, 0.890554666519165, -0.06847485899925232, -0.01926451548933983, -1.4471274614334106, -0.11120012402534485, 1.4639123678207397, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7951858043670654, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6641870737075806, -0.00012109801900805905, 0.00012109801900805905, 0.890554666519165, -0.06847485899925232, -0.01926451548933983, -1.4471274614334106, -0.11120012402534485, 1.4658198356628418, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7951858043670654, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.6641870737075806, -0.00012109801900805905, 0.00012109801900805905, 0.8894102573394775, -0.06809338182210922, -0.01926451548933983, -1.4471274614334106, -0.11120012402534485, 1.4673457145690918, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7951858043670654, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.10204470902681351, -1.6641870737075806, -0.00012109801900805905, 0.00012109801900805905, 0.8894102573394775, -0.06847485899925232, -0.01926451548933983, -1.4471274614334106, -0.11120012402534485, 1.4673457145690918, -6.083200787543319e-05, 6.083200787543319e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7951858043670654, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.664568543434143, -0.00012109801900805905, 0.00012109801900805905, 0.8894102573394775, -0.06847485899925232, -0.01926451548933983, -1.4471274614334106, -0.11120012402534485, 1.4669642448425293, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7951858043670654, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.10204470902681351, -1.664568543434143, -0.00012446616892702878, 0.00012446616892702878, 0.8894102573394775, -0.06847485899925232, -0.01926451548933983, -1.4471274614334106, -0.11120012402534485, 1.4669642448425293, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7951858043670654, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.10204470902681351, -1.664568543434143, -0.00012446616892702878, 0.00012446616892702878, 0.8894102573394775, -0.06847485899925232, -0.01926451548933983, -1.4471274614334106, -0.11120012402534485, 1.4665827751159668, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7951858043670654, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.10204470902681351, -1.664568543434143, -0.00012446616892702878, 0.00012446616892702878, 0.8894102573394775, -0.06847485899925232, -0.01926451548933983, -1.4471274614334106, -0.11120012402534485, 1.4662013053894043, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7951858043670654, 0.02040894143283367, -0.04177157208323479, 1.518463373184204, 0.1024261862039566, -1.664568543434143, -0.00012109801900805905, 0.00012109801900805905, 0.8894102573394775, -0.06847485899925232, -0.01926451548933983, -1.4471274614334106, -0.11120012402534485, 1.4658198356628418, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000023/meta.json b/rc-table30-v2__rc-dos-w1/000023/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09c38f9653df7d699192ba3474722947d1dd88bd
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000023/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Tie a knot with the string on the table.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 8315,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000023/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000023/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..33317e3f09630a63d1f1ceb789a63b6c7b9dd989
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000023/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000023/temporal.json b/rc-table30-v2__rc-dos-w1/000023/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f001a79d4ff4d4417898b381aa320515b695c9c
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000023/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09555962681770325, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08335240930318832, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6000992059707642, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09555962681770325, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08335240930318832, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6000992059707642, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09555962681770325, -1.6996643543243408, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08335240930318832, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6000992059707642, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09594109654426575, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08335240930318832, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6004806756973267, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09555962681770325, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08335240930318832, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6004806756973267, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09555962681770325, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08335240930318832, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6008621454238892, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09555962681770325, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08373387902975082, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6020065546035767, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09555962681770325, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08373387902975082, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6035324335098267, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09594109654426575, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08373387902975082, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6035324335098267, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09594109654426575, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08373387902975082, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6035324335098267, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09594109654426575, -1.7000458240509033, -0.00012446616892702878, 0.00012446616892702878, 0.8596551418304443, -0.08373387902975082, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6035324335098267, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09555962681770325, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08373387902975082, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6035324335098267, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09594109654426575, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08373387902975082, -0.008964675478637218, -1.591325283050537, -0.09670405089855194, 1.6031509637832642, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.5852216482162476, 0.09594109654426575, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08373387902975082, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6031509637832642, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0875486359000206, -0.00476844422519207, 1.584840178489685, 0.09555962681770325, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08373387902975082, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6027694940567017, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0879301130771637, -0.00476844422519207, 1.5852216482162476, 0.09594109654426575, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08373387902975082, -0.008964675478637218, -1.591325283050537, -0.09670405089855194, 1.6027694940567017, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.0883115902543068, -0.00476844422519207, 1.584840178489685, 0.09594109654426575, -1.7000458240509033, -0.00012446616892702878, 0.00012446616892702878, 0.8596551418304443, -0.08411535620689392, -0.008964675478637218, -1.5917067527770996, -0.09670405089855194, 1.6020065546035767, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.08869306743144989, -0.00476844422519207, 1.584840178489685, 0.09746700525283813, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08487831056118011, -0.008964675478637218, -1.591325283050537, -0.09670405089855194, 1.6000992059707642, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09136339277029037, -0.00476844422519207, 1.584840178489685, 0.09899290651082993, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08487831056118011, -0.008964675478637218, -1.5901808738708496, -0.09670405089855194, 1.6000992059707642, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09250781685113907, -0.004386968910694122, 1.584840178489685, 0.09937438368797302, -1.7000458240509033, -0.00012109801900805905, 0.00012109801900805905, 0.8596551418304443, -0.08487831056118011, 0.004386968910694122, -1.580643892288208, -0.0883115902543068, 1.6000992059707642, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09250781685113907, -0.004005493130534887, 1.584840178489685, 0.09899290651082993, -1.7004272937774658, -0.00012109801900805905, 0.00012109801900805905, 0.8554589152336121, -0.08869306743144989, 0.05359731614589691, -1.569581151008606, -0.045204851776361465, 1.6004806756973267, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09250781685113907, -0.0036240178160369396, 1.584840178489685, 0.09784847497940063, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.7963302135467529, -0.12455176562070847, 0.14515145123004913, -1.5627145767211914, 0.049782559275627136, 1.6004806756973267, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09250781685113907, -0.0024795911740511656, 1.5852216482162476, 0.09479667246341705, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.6811245679855347, -0.20962081849575043, 0.2634088695049286, -1.5470740795135498, 0.20695048570632935, 1.6008621454238892, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09288929402828217, -0.001716639962978661, 1.584840178489685, 0.09403372555971146, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.5567635893821716, -0.3545815348625183, 0.39616236090660095, -1.5390630960464478, 0.3839551508426666, 1.6008621454238892, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09250781685113907, -0.001716639962978661, 1.584840178489685, 0.09288929402828217, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.482375830411911, -0.5453193187713623, 0.5323491096496582, -1.5482184886932373, 0.54112309217453, 1.5955214500427246, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09250781685113907, -0.0013351644156500697, 1.584840178489685, 0.09098191559314728, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.44537270069122314, -0.7581826448440552, 0.6708247661590576, -1.5512703657150269, 0.6841763854026794, 1.5257114171981812, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09479667246341705, -0.00019073777366429567, 1.5852216482162476, 0.09098191559314728, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.422102689743042, -0.9802014231681824, 0.8161669373512268, -1.5566109418869019, 0.8237964510917664, 1.4539940357208252, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09670405089855194, 0.000572213320992887, 1.584840178489685, 0.09060044586658478, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.41027694940567017, -1.1408026218414307, 0.925650417804718, -1.562333106994629, 0.9054322242736816, 1.409742832183838, -0.0009336374932900071, 0.0009336374932900071], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09670405089855194, 0.0009536888683214784, 1.584840178489685, 0.08983749151229858, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.4011215269565582, -1.2666895389556885, 1.0145342350006104, -1.5627145767211914, 0.9588387608528137, 1.3834210634231567, -0.008874029852449894, 0.008874029852449894], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09670405089855194, 0.0009536888683214784, 1.584840178489685, 0.08869306743144989, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.39539939165115356, -1.346799373626709, 1.0694667100906372, -1.5669108629226685, 0.9855420589447021, 1.3670176267623901, -0.009095737710595131, 0.009095737710595131], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09822995215654373, 0.0013351644156500697, 1.584840178489685, 0.0879301130771637, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.3881513774394989, -1.402876377105713, 1.1045624017715454, -1.566529393196106, 0.9927901029586792, 1.359006643295288, -0.010061359032988548, 0.010061359032988548], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.584840178489685, 0.0879301130771637, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.3770885765552521, -1.436446189880371, 1.120965838432312, -1.5676738023757935, 0.9920271635055542, 1.3551918268203735, -0.010093437507748604, 0.010093437507748604], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.0013351644156500697, 1.584840178489685, 0.0879301130771637, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.36526283621788025, -1.4581903219223022, 1.1305028200149536, -1.571107029914856, 0.9847791194915771, 1.351758599281311, -0.010093437507748604, 0.010093437507748604], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.584840178489685, 0.0879301130771637, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.3580147922039032, -1.4692530632019043, 1.1358433961868286, -1.573395848274231, 0.9725719094276428, 1.3513771295547485, -0.010157721117138863, 0.010157721117138863], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.0013351644156500697, 1.584840178489685, 0.0879301130771637, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.35229265689849854, -1.4765011072158813, 1.1381323337554932, -1.574158787727356, 0.9618905782699585, 1.347562313079834, -0.010165768675506115, 0.010165768675506115], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.5852216482162476, 0.0879301130771637, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.34847790002822876, -1.4829862117767334, 1.1392767429351807, -1.5779736042022705, 0.9477760195732117, 1.347943902015686, -0.010165768675506115, 0.010165768675506115], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.5852216482162476, 0.0875486359000206, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.34504464268684387, -1.491378664970398, 1.1400396823883057, -1.578355073928833, 0.9359502792358398, 1.347943902015686, -0.010165768675506115, 0.010165768675506115], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.584840178489685, 0.0879301130771637, -1.7023346424102783, -0.00012109801900805905, 0.00012109801900805905, 0.3400854468345642, -1.500152587890625, 1.1400396823883057, -1.581406831741333, 0.926413357257843, 1.347943902015686, -0.010165768675506115, 0.010165768675506115], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.584840178489685, 0.0879301130771637, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.33550775051116943, -1.5085450410842896, 1.1400396823883057, -1.5821698904037476, 0.9214541912078857, 1.347943902015686, -0.010157721117138863, 0.010157721117138863], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.5852216482162476, 0.0875486359000206, -1.7023346424102783, -0.00012109801900805905, 0.00012109801900805905, 0.33207446336746216, -1.5157930850982666, 1.1400396823883057, -1.5817883014678955, 0.9145876169204712, 1.347943902015686, -0.010157721117138863, 0.010157721117138863], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.584840178489685, 0.0875486359000206, -1.7023346424102783, -0.00012109801900805905, 0.00012109801900805905, 0.3290226459503174, -1.5199893712997437, 1.1400396823883057, -1.5817883014678955, 0.9096284508705139, 1.347943902015686, -0.010157721117138863, 0.010157721117138863], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.5852216482162476, 0.0875486359000206, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.3263523280620575, -1.5230411291122437, 1.1400396823883057, -1.5821698904037476, 0.9065766334533691, 1.347943902015686, -0.010157721117138863, 0.010157721117138863], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.584840178489685, 0.0875486359000206, -1.7023346424102783, -0.00012109801900805905, 0.00012109801900805905, 0.325970858335495, -1.5268558263778687, 1.1400396823883057, -1.5817883014678955, 0.9035248160362244, 1.347943902015686, -0.010133595205843449, 0.010133595205843449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.584840178489685, 0.0875486359000206, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.325970858335495, -1.5299077033996582, 1.1400396823883057, -1.5817883014678955, 0.9027618765830994, 1.347943902015686, -0.009459920227527618, 0.009459920227527618], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.5852216482162476, 0.0871671661734581, -1.7023346424102783, -0.00012446616892702878, 0.00012446616892702878, 0.325970858335495, -1.5329594612121582, 1.1400396823883057, -1.5817883014678955, 0.9019989371299744, 1.347943902015686, -0.006630317308008671, 0.006630317308008671], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09899290651082993, 0.001716639962978661, 1.5852216482162476, 0.0871671661734581, -1.7023346424102783, -0.00012109801900805905, 0.00012109801900805905, 0.325970858335495, -1.5352483987808228, 1.1400396823883057, -1.580643892288208, 0.9061951637268066, 1.347943902015686, -0.0036088000051677227, 0.0036088000051677227], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09937438368797302, 0.001716639962978661, 1.5852216482162476, 0.0875486359000206, -1.7023346424102783, -0.00012109801900805905, 0.00012109801900805905, 0.3263523280620575, -1.5367742776870728, 1.1408026218414307, -1.578355073928833, 0.9115357995033264, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09975585341453552, 0.001716639962978661, 1.5852216482162476, 0.0871671661734581, -1.7023346424102783, -0.00012109801900805905, 0.00012109801900805905, 0.325970858335495, -1.5375372171401978, 1.1411840915679932, -1.578355073928833, 0.9180209040641785, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09975585341453552, 0.001716639962978661, 1.5852216482162476, 0.0871671661734581, -1.7023346424102783, -0.00012109801900805905, 0.00012109801900805905, 0.325970858335495, -1.5337224006652832, 1.1411840915679932, -1.5794994831085205, 0.9321355223655701, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09975585341453552, 0.004386968910694122, 1.5852216482162476, 0.086785688996315, -1.7023346424102783, -0.00012109801900805905, 0.00012109801900805905, 0.3255893886089325, -1.5230411291122437, 1.1400396823883057, -1.581406831741333, 0.9523537158966064, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.09975585341453552, 0.024605173617601395, 1.5852216482162476, 0.08030059933662415, -1.7027161121368408, -0.00012109801900805905, 0.00012109801900805905, 0.3255893886089325, -1.508926510810852, 1.1400396823883057, -1.574540376663208, 0.9500648379325867, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.12111848592758179, 0.09403372555971146, 1.5852216482162476, 0.035667963325977325, -1.7038605213165283, -0.00012109801900805905, 0.00012109801900805905, 0.3255893886089325, -1.497100830078125, 1.1400396823883057, -1.569581151008606, 0.9531166553497314, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.20733195543289185, 0.2138170450925827, 1.5844587087631226, -0.06656748056411743, -1.720263957977295, -0.00012109801900805905, 0.00012109801900805905, 0.3255893886089325, -1.4909971952438354, 1.1400396823883057, -1.568818211555481, 0.9637979865074158, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.3572518527507782, 0.3576333224773407, 1.584840178489685, -0.17795833945274353, -1.7496376037597656, -0.00012109801900805905, 0.00012109801900805905, 0.3255893886089325, -1.4875638484954834, 1.1400396823883057, -1.566147804260254, 0.9653238654136658, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.5579079985618591, 0.5128938555717468, 1.5844587087631226, -0.28706035017967224, -1.794651746749878, -0.00012109801900805905, 0.00012109801900805905, 0.3255893886089325, -1.4860379695892334, 1.1400396823883057, -1.5650033950805664, 0.967994213104248, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.8031967878341675, 0.7059205174446106, 1.584840178489685, -0.439269095659256, -1.8507286310195923, -0.00012109801900805905, 0.00012109801900805905, 0.3255893886089325, -1.4860379695892334, 1.1400396823883057, -1.5650033950805664, 0.9683756828308105, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -1.0313191413879395, 0.8955138325691223, 1.5844587087631226, -0.5869001150131226, -1.894598364830017, -0.00012109801900805905, 0.00012109801900805905, 0.3255893886089325, -1.4875638484954834, 1.1400396823883057, -1.564621925354004, 0.9683756828308105, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -1.2422751188278198, 1.0835813283920288, 1.5844587087631226, -0.7166017889976501, -1.9426642656326294, -0.00012109801900805905, 0.00012109801900805905, 0.3255893886089325, -1.489089846611023, 1.1400396823883057, -1.563096046447754, 0.9683756828308105, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8295185565948486, -1.403639316558838, 1.2354085445404053, 1.584840178489685, -0.8287556171417236, -1.9865338802337646, -0.00021963567996863276, 0.00021963567996863276, 0.3255893886089325, -1.490615725517273, 1.1400396823883057, -1.563096046447754, 0.9683756828308105, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8360036611557007, -1.5337224006652832, 1.358243703842163, 1.5852216482162476, -0.9325169920921326, -2.0273518562316895, -0.0023417118936777115, 0.0023417118936777115, 0.3255893886089325, -1.4917601346969604, 1.1400396823883057, -1.5634775161743164, 0.9676127433776855, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8501182794570923, -1.6302357912063599, 1.4494163990020752, 1.586366057395935, -1.0042344331741333, -2.0593957901000977, -0.003460776060819626, 0.003460776060819626, 0.3255893886089325, -1.4925230741500854, 1.1400396823883057, -1.563858985900879, 0.967231273651123, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -1.7030975818634033, 1.518463373184204, 1.584840178489685, -1.0618371963500977, -2.092965602874756, -0.007542926352471113, 0.007542926352471113, 0.3255893886089325, -1.492904543876648, 1.1400396823883057, -1.5657663345336914, 0.9657053351402283, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8710994124412537, -1.7488746643066406, 1.5634775161743164, 1.5836957693099976, -1.0961699485778809, -2.129587173461914, -0.011877783574163914, 0.011877783574163914, 0.3255893886089325, -1.493667483329773, 1.1400396823883057, -1.566147804260254, 0.9641794562339783, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8745326995849609, -1.7744334936141968, 1.5897992849349976, 1.5844587087631226, -1.1118104457855225, -2.1566720008850098, -0.011869220063090324, 0.011869220063090324, 0.3255893886089325, -1.493667483329773, 1.1400396823883057, -1.566529393196106, 0.9641794562339783, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8756771087646484, -1.7877851724624634, 1.6031509637832642, 1.5844587087631226, -1.114862322807312, -2.179560422897339, -0.011869220063090324, 0.011869220063090324, 0.3255893886089325, -1.493667483329773, 1.1400396823883057, -1.568818211555481, 0.9637979865074158, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8772030472755432, -1.796940565109253, 1.6100175380706787, 1.584840178489685, -1.109140157699585, -2.200923204421997, -0.011869220063090324, 0.011869220063090324, 0.3255893886089325, -1.493667483329773, 1.1400396823883057, -1.570344090461731, 0.960746169090271, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, -1.80266273021698, 1.6130692958831787, 1.5852216482162476, -1.102655053138733, -2.2127490043640137, -0.011869220063090324, 0.011869220063090324, 0.3255893886089325, -1.494430422782898, 1.1400396823883057, -1.570344090461731, 0.9603646993637085, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, -1.806477427482605, 1.6130692958831787, 1.5859845876693726, -1.0957884788513184, -2.219996929168701, -0.011869220063090324, 0.011869220063090324, 0.3255893886089325, -1.495193362236023, 1.1400396823883057, -1.570344090461731, 0.9603646993637085, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, -1.8095293045043945, 1.6119248867034912, 1.5867475271224976, -1.0862516164779663, -2.2268636226654053, -0.011869220063090324, 0.011869220063090324, 0.3255893886089325, -1.4955748319625854, 1.1400396823883057, -1.5707255601882935, 0.9603646993637085, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, -1.8118181228637695, 1.6077287197113037, 1.5867475271224976, -1.0748074054718018, -2.2302968502044678, -0.011869220063090324, 0.011869220063090324, 0.3255893886089325, -1.496337890625, 1.1400396823883057, -1.571107029914856, 0.959983229637146, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, -1.8133440017700195, 1.6035324335098267, 1.5867475271224976, -1.0667964220046997, -2.2310597896575928, -0.011869220063090324, 0.011869220063090324, 0.3255893886089325, -1.4974822998046875, 1.1400396823883057, -1.5714884996414185, 0.959983229637146, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, -1.815251350402832, 1.6012436151504517, 1.5867475271224976, -1.0595483779907227, -2.2341115474700928, -0.011860659345984459, 0.011860659345984459, 0.3255893886089325, -1.4982452392578125, 1.1400396823883057, -1.5730143785476685, 0.9596017599105835, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8752956390380859, -1.816014289855957, 1.5993362665176392, 1.586366057395935, -1.0503928661346436, -2.2341115474700928, -0.011869220063090324, 0.011869220063090324, 0.3255893886089325, -1.498626708984375, 1.1400396823883057, -1.573395848274231, 0.9584572911262512, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8707179427146912, -1.817158818244934, 1.597428798675537, 1.586366057395935, -1.045433759689331, -2.2341115474700928, -0.011860659345984459, 0.011860659345984459, 0.3255893886089325, -1.498626708984375, 1.1400396823883057, -1.5730143785476685, 0.9573128819465637, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8665217161178589, -1.817921757698059, 1.5962843894958496, 1.5867475271224976, -1.041237473487854, -2.2367818355560303, -0.011860659345984459, 0.011860659345984459, 0.3255893886089325, -1.4990081787109375, 1.1400396823883057, -1.573395848274231, 0.9569314122200012, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -1.8190661668777466, 1.595139980316162, 1.5867475271224976, -1.0362783670425415, -2.2375447750091553, -0.011860659345984459, 0.011860659345984459, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5730143785476685, 0.9561684727668762, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, -1.821736454963684, 1.5932326316833496, 1.586366057395935, -1.0328450202941895, -2.2413594722747803, -0.011860659345984459, 0.011860659345984459, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.573395848274231, 0.9554055333137512, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -1.8244068622589111, 1.5897992849349976, 1.5867475271224976, -1.030174732208252, -2.2428855895996094, -0.011869220063090324, 0.011869220063090324, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.575303316116333, 0.9531166553497314, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8554589152336121, -1.8282215595245361, 1.58560311794281, 1.5867475271224976, -1.029411792755127, -2.2459373474121094, -0.011869220063090324, 0.011869220063090324, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5794994831085205, 0.952735185623169, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8543145060539246, -1.8327993154525757, 1.58255136013031, 1.5859845876693726, -1.027885913848877, -2.2497520446777344, -0.011860659345984459, 0.011860659345984459, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.581406831741333, 0.951972246170044, 1.3483253717422485, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8539330363273621, -1.8343251943588257, 1.5817883014678955, 1.5867475271224976, -1.022926688194275, -2.252422332763672, -0.011860659345984459, 0.011860659345984459, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5817883014678955, 0.9500648379325867, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8539330363273621, -1.8358510732650757, 1.580643892288208, 1.586366057395935, -1.0183489322662354, -2.2528038024902344, -0.011860659345984459, 0.011860659345984459, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5852216482162476, 0.9485389590263367, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8527885675430298, -1.8366140127182007, 1.580643892288208, 1.5859845876693726, -1.0141527652740479, -2.2528038024902344, -0.011860659345984459, 0.011860659345984459, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5852216482162476, 0.9481574892997742, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -1.8377584218978882, 1.580643892288208, 1.5867475271224976, -1.0118639469146729, -2.2528038024902344, -0.011860659345984459, 0.011860659345984459, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5852216482162476, 0.9473945498466492, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -1.8377584218978882, 1.580643892288208, 1.584840178489685, -1.0114823579788208, -2.253948211669922, -0.011860659345984459, 0.011860659345984459, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5852216482162476, 0.9458686113357544, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8451590538024902, -1.8381398916244507, 1.580643892288208, 1.583314299583435, -1.0088120698928833, -2.2604334354400635, -0.01184354443103075, 0.01184354443103075, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5852216482162476, 0.9458686113357544, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8421072959899902, -1.8381398916244507, 1.580643892288208, 1.5836957693099976, -1.0080491304397583, -2.2634851932525635, -0.011587965302169323, 0.011587965302169323, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5852216482162476, 0.9458686113357544, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -1.8389028310775757, 1.580643892288208, 1.5844587087631226, -1.0088120698928833, -2.263866662979126, -0.010400273837149143, 0.010400273837149143, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.58560311794281, 0.9462500810623169, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.839436948299408, -1.8396657705307007, 1.580643892288208, 1.586366057395935, -1.0114823579788208, -2.264629602432251, -0.007621203549206257, 0.007621203549206257, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5882734060287476, 0.9462500810623169, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.839436948299408, -1.8404288291931152, 1.580643892288208, 1.5882734060287476, -1.0130083560943604, -2.264629602432251, -0.004426576197147369, 0.004426576197147369, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5890363454818726, 0.9454871416091919, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -1.8408102989196777, 1.580643892288208, 1.5917067527770996, -1.0194933414459229, -2.2627222537994385, -0.00042922960710711777, 0.00042922960710711777, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5890363454818726, 0.9447242021560669, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.838674008846283, -1.8400473594665527, 1.580643892288208, 1.590562343597412, -1.0236896276474, -2.2528038024902344, -0.00019910182163584977, 0.00019910182163584977, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.5890363454818726, 0.9409094452857971, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.839436948299408, -1.8343251943588257, 1.5794994831085205, 1.5829328298568726, -1.040474534034729, -2.2409780025482178, -0.00019910182163584977, 0.00019910182163584977, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.589417815208435, 0.9401465058326721, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -1.822499394416809, 1.5802624225616455, 1.5829328298568726, -1.040474534034729, -2.2310597896575928, -0.00019910182163584977, 0.00019910182163584977, 0.3255893886089325, -1.4993896484375, 1.1400396823883057, -1.589417815208435, 0.9378576278686523, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8390554785728455, -1.8087663650512695, 1.5802624225616455, 1.5836957693099976, -1.0473411083221436, -2.216945171356201, -0.00019568698189686984, 0.00019568698189686984, 0.3255893886089325, -1.498626708984375, 1.1400396823883057, -1.5897992849349976, 0.9374761581420898, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8360036611557007, -1.793125867843628, 1.5802624225616455, 1.5836957693099976, -1.0545891523361206, -2.2005417346954346, -0.00019910182163584977, 0.00019910182163584977, 0.3255893886089325, -1.496337890625, 1.1400396823883057, -1.5897992849349976, 0.9355688095092773, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8249408602714539, -1.7725261449813843, 1.5794994831085205, 1.5836957693099976, -1.0622186660766602, -2.1761271953582764, -0.00019910182163584977, 0.00019910182163584977, 0.3255893886089325, -1.4887083768844604, 1.1400396823883057, -1.5901808738708496, 0.9340428709983826, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8054856061935425, -1.745059847831726, 1.5764477252960205, 1.5852216482162476, -1.0763332843780518, -2.1437017917633057, -0.00019910182163584977, 0.00019910182163584977, 0.3255893886089325, -1.4692530632019043, 1.1400396823883057, -1.5897992849349976, 0.9336614012718201, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.778019368648529, -1.7004272937774658, 1.565384864807129, 1.5844587087631226, -1.0851072072982788, -2.096017360687256, -0.00019568698189686984, 0.00019568698189686984, 0.3255893886089325, -1.434157371520996, 1.1339360475540161, -1.5897992849349976, 0.9275577664375305, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7391088604927063, -1.6363393068313599, 1.5447852611541748, 1.58712899684906, -1.0919737815856934, -2.0387959480285645, -0.00019568698189686984, 0.00019568698189686984, 0.3255893886089325, -1.3796063661575317, 1.1190584897994995, -1.589417815208435, 0.9077210426330566, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.692568838596344, -1.5577553510665894, 1.510452389717102, 1.58712899684906, -1.104943871498108, -1.971656322479248, -0.00019568698189686984, 0.00019568698189686984, 0.3213931620121002, -1.3162813186645508, 1.1079957485198975, -1.5890363454818726, 0.89131760597229, 1.347943902015686, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6364919543266296, -1.4620050191879272, 1.4593347311019897, 1.5867475271224976, -1.10837721824646, -1.9087128639221191, -0.00019568698189686984, 0.00019568698189686984, 0.3076600432395935, -1.2445639371871948, 1.1030365228652954, -1.58865487575531, 0.8741512298583984, 1.3483253717422485, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5727855563163757, -1.359006643295288, 1.4024949073791504, 1.5875104665756226, -1.110666036605835, -1.8472952842712402, -0.00019568698189686984, 0.00019568698189686984, 0.28706035017967224, -1.1701762676239014, 1.101129174232483, -1.584840178489685, 0.8615625500679016, 1.348706841468811, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5136567950248718, -1.268596887588501, 1.354810357093811, 1.58712899684906, -1.110666036605835, -1.7896925210952759, -0.00019568698189686984, 0.00019568698189686984, 0.2645532786846161, -1.101892113685608, 1.1057069301605225, -1.580643892288208, 0.8562218546867371, 1.3521400690078735, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4530022144317627, -1.19306480884552, 1.3189517259597778, 1.5867475271224976, -1.1110475063323975, -1.7393378019332886, -0.00019568698189686984, 0.00019568698189686984, 0.24052032828330994, -1.046959638595581, 1.120965838432312, -1.580643892288208, 0.8577477931976318, 1.3647288084030151, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39387351274490356, -1.1396582126617432, 1.2979705333709717, 1.5867475271224976, -1.1102845668792725, -1.6966124773025513, -0.00019568698189686984, 0.00019568698189686984, 0.22106507420539856, -1.0160601139068604, 1.1491950750350952, -1.579880952835083, 0.8649957776069641, 1.3834210634231567, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3416113555431366, -1.10990309715271, 1.2918668985366821, 1.5867475271224976, -1.098077416419983, -1.6611353158950806, -0.00019568698189686984, 0.00019568698189686984, 0.21076524257659912, -1.0137712955474854, 1.189631462097168, -1.577592134475708, 0.8787289261817932, 1.4032578468322754, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.30003052949905396, -1.0973143577575684, 1.2922483682632446, 1.58712899684906, -1.0751888751983643, -1.637483835220337, -0.00019910182163584977, 0.00019910182163584977, 0.20580606162548065, -1.031700611114502, 1.2342641353607178, -1.5772106647491455, 0.8867399096488953, 1.425764799118042, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2786678969860077, -1.0957884788513184, 1.2964446544647217, 1.5867475271224976, -1.0320820808410645, -1.6256580352783203, -0.00019568698189686984, 0.00019568698189686984, 0.20237277448177338, -1.0645074844360352, 1.28385591506958, -1.577592134475708, 0.8928435444831848, 1.4471274614334106, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.26836803555488586, -1.1095216274261475, 1.3117036819458008, 1.5836957693099976, -0.9744792580604553, -1.6168841123580933, -0.00019568698189686984, 0.00019568698189686984, 0.20122835040092468, -1.100366234779358, 1.3296329975128174, -1.5772106647491455, 0.8928435444831848, 1.4620050191879272, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2653162479400635, -1.1408026218414307, 1.3368810415267944, 1.58407723903656, -0.9130617380142212, -1.6153582334518433, -0.00019568698189686984, 0.00019568698189686984, 0.20084688067436218, -1.1430914402008057, 1.3769359588623047, -1.5699626207351685, 0.8829251527786255, 1.4700160026550293, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.27218279242515564, -1.1861982345581055, 1.3696879148483276, 1.58407723903656, -0.8703364729881287, -1.6210802793502808, -0.00019568698189686984, 0.00019568698189686984, 0.20084688067436218, -1.19306480884552, 1.425001859664917, -1.562333106994629, 0.8726252913475037, 1.4765011072158813, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28667888045310974, -1.2300678491592407, 1.3960098028182983, 1.58407723903656, -0.8314259648323059, -1.6317616701126099, -0.00019568698189686984, 0.00019568698189686984, 0.20122835040092468, -1.2392233610153198, 1.4593347311019897, -1.5451667308807373, 0.8607995510101318, 1.4780269861221313, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.309567391872406, -1.2666895389556885, 1.4063096046447754, 1.5844587087631226, -0.80357825756073, -1.6416800022125244, -0.00019568698189686984, 0.00019568698189686984, 0.20504310727119446, -1.2762264013290405, 1.4757381677627563, -1.5268558263778687, 0.8524070978164673, 1.4803158044815063, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3389410376548767, -1.2880522012710571, 1.3963912725448608, 1.5844587087631226, -0.7841230034828186, -1.650835394859314, -0.00019568698189686984, 0.00019568698189686984, 0.21915769577026367, -1.2960631847381592, 1.4711604118347168, -1.5173189640045166, 0.8504997491836548, 1.481078863143921, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3740367889404297, -1.2903410196304321, 1.3647288084030151, 1.5844587087631226, -0.7696269154548645, -1.6577019691467285, -0.00019568698189686984, 0.00019568698189686984, 0.248531311750412, -1.2975890636444092, 1.4414052963256836, -1.5100709199905396, 0.8485923409461975, 1.481078863143921, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4079881012439728, -1.273556113243103, 1.3174258470535278, 1.5844587087631226, -0.7616159319877625, -1.662279725074768, -0.00019568698189686984, 0.00019568698189686984, 0.28515297174453735, -1.2796597480773926, 1.3963912725448608, -1.5062562227249146, 0.8485923409461975, 1.481078863143921, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44499123096466064, -1.2403677701950073, 1.2556267976760864, 1.5844587087631226, -0.7543678879737854, -1.6737239360809326, -0.00019568698189686984, 0.00019568698189686984, 0.32673379778862, -1.2487602233886719, 1.338025450706482, -1.505874752998352, 0.8493552803993225, 1.481078863143921, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49191272258758545, -1.1957350969314575, 1.1854352951049805, 1.5875104665756226, -0.7516975402832031, -1.6969939470291138, -0.00019568698189686984, 0.00019568698189686984, 0.36907759308815, -1.2079423666000366, 1.274319052696228, -1.50244140625, 0.8493552803993225, 1.4814603328704834, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5533303022384644, -1.1530098915100098, 1.1190584897994995, 1.5867475271224976, -0.7505531311035156, -1.7313268184661865, -0.00019568698189686984, 0.00019568698189686984, 0.4083695709705353, -1.1614023447036743, 1.2094682455062866, -1.50244140625, 0.8501182794570923, 1.4814603328704834, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6395437717437744, -1.117151141166687, 1.047722578048706, 1.5867475271224976, -0.7471198439598083, -1.7874037027359009, -0.00019568698189686984, 0.00019568698189686984, 0.4388876259326935, -1.1198214292526245, 1.1526284217834473, -1.5020599365234375, 0.8497368097305298, 1.484130620956421, -0.0005080393748357892, 0.0005080393748357892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7352941036224365, -1.099603295326233, 0.9779125452041626, 1.5859845876693726, -0.7146944403648376, -1.8587396144866943, -0.00019910182163584977, 0.00019910182163584977, 0.46101319789886475, -1.0881589651107788, 1.1037994623184204, -1.500152587890625, 0.8493552803993225, 1.4837491512298584, -0.0005080393748357892, 0.0005080393748357892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8302815556526184, -1.1045624017715454, 0.9233615398406982, 1.5836957693099976, -0.6498435735702515, -1.9346532821655273, -0.00019568698189686984, 0.00019568698189686984, 0.4732204079627991, -1.0687037706375122, 1.0667964220046997, -1.4948118925094604, 0.8497368097305298, 1.4837491512298584, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9134432077407837, -1.1339360475540161, 0.8932250142097473, 1.5836957693099976, -0.578507661819458, -2.0090410709381104, -0.00019910182163584977, 0.00019910182163584977, 0.4800869822502136, -1.0584038496017456, 1.040474534034729, -1.490615725517273, 0.8493552803993225, 1.4837491512298584, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9817273020744324, -1.1755168437957764, 0.8779659867286682, 1.58407723903656, -0.49458304047584534, -2.0788509845733643, -0.00020251880050636828, 0.00020251880050636828, 0.4854276478290558, -1.0538262128829956, 1.0240710973739624, -1.4868009090423584, 0.84897381067276, 1.4837491512298584, -0.0005080393748357892, 0.0005080393748357892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0343708992004395, -1.2216753959655762, 0.8699550032615662, 1.5836957693099976, -0.404173344373703, -2.1368353366851807, -0.007656896486878395, 0.007656896486878395, 0.4865720570087433, -1.053444743156433, 1.0133898258209229, -1.484130620956421, 0.848210871219635, 1.4837491512298584, -0.0005080393748357892, 0.0005080393748357892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0629816055297852, -1.259060025215149, 0.8684290647506714, 1.58407723903656, -0.3408484160900116, -2.182612419128418, -0.017288414761424065, 0.017288414761424065, 0.4877164959907532, -1.0561150312423706, 1.0069047212600708, -1.484130620956421, 0.8485923409461975, 1.483367681503296, -0.0005080393748357892, 0.0005080393748357892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0751888751983643, -1.262493371963501, 0.8634698987007141, 1.5844587087631226, -0.33016708493232727, -2.204737901687622, -0.018397629261016846, 0.018397629261016846, 0.49000534415245056, -1.0603113174438477, 1.0027084350585938, -1.4776455163955688, 0.848210871219635, 1.4829862117767334, -0.0005080393748357892, 0.0005080393748357892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0683223009109497, -1.2197680473327637, 0.8463035225868225, 1.58407723903656, -0.3847180902957916, -2.1990158557891846, -0.01827043667435646, 0.01827043667435646, 0.5018310546875, -1.0660333633422852, 1.0004196166992188, -1.4665827751159668, 0.8478294014930725, 1.4822232723236084, -0.0005080393748357892, 0.0005080393748357892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0435264110565186, -1.1415655612945557, 0.8211261034011841, 1.5844587087631226, -0.4850461483001709, -2.1524758338928223, -0.00852709636092186, 0.00852709636092186, 0.5407415628433228, -1.0736628770828247, 0.9981307983398438, -1.4566643238067627, 0.8478294014930725, 1.4803158044815063, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0080491304397583, -1.041237473487854, 0.7856488823890686, 1.5859845876693726, -0.6021591424942017, -2.096780300140381, -0.00020935914653819054, 0.00020935914653819054, 0.6006332635879517, -1.0866330862045288, 0.9969863295555115, -1.4494163990020752, 0.84592205286026, 1.4803158044815063, -0.0005080393748357892, 0.0005080393748357892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9649423956871033, -0.9359502792358398, 0.7379644513130188, 1.5867475271224976, -0.7097352743148804, -2.0563440322875977, -6.416223186533898e-05, 6.416223186533898e-05, 0.6677729487419128, -1.1079957485198975, 0.995078980922699, -1.430724024772644, 0.8367666006088257, 1.4803158044815063, -0.0005080393748357892, 0.0005080393748357892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9149690866470337, -0.8424887657165527, 0.6860837936401367, 1.5867475271224976, -0.7944228053092957, -2.0448997020721436, -6.416223186533898e-05, 6.416223186533898e-05, 0.7364385724067688, -1.1346989870071411, 0.9878309369087219, -1.406691074371338, 0.805867075920105, 1.4803158044815063, -0.0005080393748357892, 0.0005080393748357892], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.7742046117782593, 0.647173285484314, 1.5867475271224976, -0.8440146446228027, -2.043755292892456, -6.416223186533898e-05, 6.416223186533898e-05, 0.7887006998062134, -1.1682689189910889, 0.9821087718009949, -1.3937208652496338, 0.7784008383750916, 1.4803158044815063, -0.006094804499298334, 0.006094804499298334], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8596551418304443, -0.734912633895874, 0.621614396572113, 1.58407723903656, -0.8756771087646484, -2.037651538848877, -6.083200787543319e-05, 6.083200787543319e-05, 0.8112077713012695, -1.19459068775177, 0.9790570139884949, -1.3906691074371338, 0.7711527943611145, 1.4803158044815063, -0.010117525234818459, 0.010117525234818459], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.7215610146522522, 0.6052109599113464, 1.5844587087631226, -0.8997100591659546, -2.030022144317627, -6.416223186533898e-05, 6.416223186533898e-05, 0.813878059387207, -1.204890489578247, 0.9779125452041626, -1.4185168743133545, 0.8009079098701477, 1.4806973934173584, -0.01071084849536419, 0.01071084849536419], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8436331748962402, -0.7207980751991272, 0.5952925682067871, 1.58407723903656, -0.9145876169204712, -2.022392511367798, -6.416223186533898e-05, 6.416223186533898e-05, 0.7864118218421936, -1.204890489578247, 0.9733348488807678, -1.4715418815612793, 0.8733882904052734, 1.4806973934173584, -0.01071084849536419, 0.01071084849536419], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840962827205658, -0.724612832069397, 0.5888075232505798, 1.5844587087631226, -0.9214541912078857, -2.015526056289673, -6.416223186533898e-05, 6.416223186533898e-05, 0.7570382356643677, -1.1942092180252075, 0.9508277773857117, -1.5325779914855957, 0.952735185623169, 1.4803158044815063, -0.01071084849536419, 0.01071084849536419], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8390554785728455, -0.7318608164787292, 0.5853742361068726, 1.5844587087631226, -0.9225986003875732, -2.009422540664673, -6.416223186533898e-05, 6.416223186533898e-05, 0.7440680265426636, -1.1758984327316284, 0.9130617380142212, -1.568818211555481, 1.0046159029006958, 1.4806973934173584, -0.01071084849536419, 0.01071084849536419], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.838674008846283, -0.7387273907661438, 0.5834668278694153, 1.5844587087631226, -0.9195467829704285, -2.0037002563476562, -6.416223186533898e-05, 6.416223186533898e-05, 0.7360570430755615, -1.1633096933364868, 0.8749141693115234, -1.593614101409912, 1.0313191413879395, 1.4806973934173584, -0.01071084849536419, 0.01071084849536419], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7444495558738708, 0.5827038884162903, 1.5844587087631226, -0.9157320261001587, -2.0006484985351562, -6.416223186533898e-05, 6.416223186533898e-05, 0.7288090586662292, -1.1560616493225098, 0.8421072959899902, -1.6161211729049683, 1.0416189432144165, 1.481078863143921, -0.01071084849536419, 0.01071084849536419], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7482643127441406, 0.5823224186897278, 1.5844587087631226, -0.9145876169204712, -2.0002670288085938, -6.416223186533898e-05, 6.416223186533898e-05, 0.7291905283927917, -1.1495765447616577, 0.8146410584449768, -1.6161211729049683, 1.043144941329956, 1.4806973934173584, -0.010702627710998058, 0.010702627710998058], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7509346008300781, 0.5819409489631653, 1.584840178489685, -0.9122987985610962, -2.0002670288085938, -6.416223186533898e-05, 6.416223186533898e-05, 0.727664589881897, -1.1449989080429077, 0.7955672740936279, -1.6218433380126953, 1.035896897315979, 1.481078863143921, -0.010702627710998058, 0.010702627710998058], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7524605393409729, 0.5819409489631653, 1.584840178489685, -0.9122987985610962, -1.9998855590820312, -6.416223186533898e-05, 6.416223186533898e-05, 0.7249943017959595, -1.1423285007476807, 0.7818341255187988, -1.6298543214797974, 1.0225452184677124, 1.481078863143921, -0.010702627710998058, 0.010702627710998058], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7532234787940979, 0.5819409489631653, 1.584840178489685, -0.9126802682876587, -2.0002670288085938, -6.083200787543319e-05, 6.083200787543319e-05, 0.726901650428772, -1.1423285007476807, 0.7726787328720093, -1.6268024444580078, 1.0049973726272583, 1.481078863143921, -0.010702627710998058, 0.010702627710998058], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7532234787940979, 0.5819409489631653, 1.584840178489685, -0.9126802682876587, -2.0006484985351562, -6.416223186533898e-05, 6.416223186533898e-05, 0.726138710975647, -1.1461433172225952, 0.7665750980377197, -1.6287097930908203, 0.9901197552680969, 1.481078863143921, -0.010677982121706009, 0.010677982121706009], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7532234787940979, 0.5819409489631653, 1.584840178489685, -0.9126802682876587, -2.0048446655273438, -6.083200787543319e-05, 6.083200787543319e-05, 0.7257572412490845, -1.1518653631210327, 0.76276034116745, -1.6309987306594849, 0.9763866662979126, 1.481078863143921, -0.01060418225824833, 0.01060418225824833], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7532234787940979, 0.5819409489631653, 1.5852216482162476, -0.9126802682876587, -2.0128557682037354, -6.083200787543319e-05, 6.083200787543319e-05, 0.726138710975647, -1.1614023447036743, 0.760471522808075, -1.6306172609329224, 0.9649423956871033, 1.481078863143921, -0.010595995001494884, 0.010595995001494884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7528420090675354, 0.5815594792366028, 1.584840178489685, -0.9126802682876587, -2.016288995742798, -6.416223186533898e-05, 6.416223186533898e-05, 0.7257572412490845, -1.1720836162567139, 0.7589455842971802, -1.6309987306594849, 0.9538795948028564, 1.481078863143921, -0.010013320483267307, 0.010013320483267307], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7509346008300781, 0.5811780095100403, 1.584840178489685, -0.9126802682876587, -2.018577814102173, -6.416223186533898e-05, 6.416223186533898e-05, 0.726138710975647, -1.1846723556518555, 0.7585641145706177, -1.6313802003860474, 0.9431982636451721, 1.481078863143921, -0.009648184292018414, 0.009648184292018414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7501716613769531, 0.580033540725708, 1.584840178489685, -0.9126802682876587, -2.019340753555298, -6.416223186533898e-05, 6.416223186533898e-05, 0.7257572412490845, -1.196879506111145, 0.7585641145706177, -1.6336690187454224, 0.9332799315452576, 1.481078863143921, -0.008805692195892334, 0.008805692195892334], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7494087219238281, 0.5796520709991455, 1.584840178489685, -0.9130617380142212, -2.0197222232818604, -6.416223186533898e-05, 6.416223186533898e-05, 0.7257572412490845, -1.205653429031372, 0.7585641145706177, -1.6348134279251099, 0.9267948269844055, 1.481078863143921, -0.007366293575614691, 0.007366293575614691], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7494087219238281, 0.5788891315460205, 1.584840178489685, -0.9130617380142212, -2.020103693008423, -6.416223186533898e-05, 6.416223186533898e-05, 0.7257572412490845, -1.2102311849594116, 0.7585641145706177, -1.6340504884719849, 0.9225986003875732, 1.481078863143921, -0.004828461445868015, 0.004828461445868015], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7494087219238281, 0.5773632526397705, 1.5844587087631226, -0.9134432077407837, -2.020866632461548, -6.416223186533898e-05, 6.416223186533898e-05, 0.7265201807022095, -1.2125200033187866, 0.7585641145706177, -1.6321431398391724, 0.9222171306610107, 1.481078863143921, -0.0016195508651435375, 0.0016195508651435375], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7494087219238281, 0.5754558444023132, 1.584840178489685, -0.9134432077407837, -2.0227739810943604, -6.083200787543319e-05, 6.083200787543319e-05, 0.726138710975647, -1.2125200033187866, 0.7585641145706177, -1.6317616701126099, 0.9214541912078857, 1.481078863143921, -0.0007358896546065807, 0.0007358896546065807], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7482643127441406, 0.5743114352226257, 1.5844587087631226, -0.9134432077407837, -2.023155450820923, -6.416223186533898e-05, 6.416223186533898e-05, 0.7257572412490845, -1.2037460803985596, 0.7585641145706177, -1.6386282444000244, 0.9218356609344482, 1.481078863143921, -0.0007171970792114735, 0.0007171970792114735], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7455939650535583, 0.5731670260429382, 1.5844587087631226, -0.9134432077407837, -2.0227739810943604, -6.416223186533898e-05, 6.416223186533898e-05, 0.7234683632850647, -1.183146357536316, 0.767719566822052, -1.6424429416656494, 0.9328984618186951, 1.4814603328704834, -0.0007134653278626502, 0.0007134653278626502], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7410162687301636, 0.5731670260429382, 1.5844587087631226, -0.9134432077407837, -2.0227739810943604, -6.416223186533898e-05, 6.416223186533898e-05, 0.7265201807022095, -1.1686503887176514, 0.8001449704170227, -1.6386282444000244, 0.951209306716919, 1.4814603328704834, -0.0007134653278626502, 0.0007134653278626502], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7352941036224365, 0.5731670260429382, 1.5844587087631226, -0.9134432077407837, -2.0227739810943604, -6.416223186533898e-05, 6.416223186533898e-05, 0.7257572412490845, -1.176279902458191, 0.8600366115570068, -1.656557559967041, 0.9691386222839355, 1.481841802597046, -0.0007171970792114735, 0.0007171970792114735], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7295719981193542, 0.572022557258606, 1.5844587087631226, -0.9134432077407837, -2.0227739810943604, -6.416223186533898e-05, 6.416223186533898e-05, 0.7242313027381897, -1.2167162895202637, 0.9462500810623169, -1.6840238571166992, 0.9752422571182251, 1.4837491512298584, -0.0007134653278626502, 0.0007134653278626502], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7257572412490845, 0.5708781480789185, 1.5844587087631226, -0.9134432077407837, -2.0227739810943604, -6.416223186533898e-05, 6.416223186533898e-05, 0.724612832069397, -1.2853819131851196, 1.049248456954956, -1.7107270956039429, 0.9668498039245605, 1.483367681503296, -0.0007134653278626502, 0.0007134653278626502], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7234683632850647, 0.5693522691726685, 1.5844587087631226, -0.9138246774673462, -2.0227739810943604, -6.083200787543319e-05, 6.083200787543319e-05, 0.7173647880554199, -1.3624398708343506, 1.1461433172225952, -1.7328526973724365, 0.9412909150123596, 1.4829862117767334, -0.0007134653278626502, 0.0007134653278626502], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7219424843788147, 0.568970799446106, 1.5844587087631226, -0.9149690866470337, -2.0227739810943604, -6.083200787543319e-05, 6.083200787543319e-05, 0.7055390477180481, -1.4433127641677856, 1.2304493188858032, -1.744296908378601, 0.9206912517547607, 1.4829862117767334, -0.0007134653278626502, 0.0007134653278626502], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7200350761413574, 0.5685893297195435, 1.5844587087631226, -0.916113555431366, -2.022392511367798, -6.083200787543319e-05, 6.083200787543319e-05, 0.690280020236969, -1.5207523107528687, 1.2968261241912842, -1.7484931945800781, 0.9096284508705139, 1.4829862117767334, -0.0007134653278626502, 0.0007134653278626502], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7188906669616699, 0.5682078003883362, 1.5844587087631226, -0.917639434337616, -2.022392511367798, -6.416223186533898e-05, 6.416223186533898e-05, 0.6746395230293274, -1.5867475271224976, 1.339932918548584, -1.7515449523925781, 0.8978027105331421, 1.482604742050171, -0.0007134653278626502, 0.0007134653278626502], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7188906669616699, 0.5682078003883362, 1.5844587087631226, -0.9195467829704285, -2.022392511367798, -6.416223186533898e-05, 6.416223186533898e-05, 0.6620507836341858, -1.6348134279251099, 1.3624398708343506, -1.7504005432128906, 0.8802548050880432, 1.4799343347549438, -0.0007134653278626502, 0.0007134653278626502], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7188906669616699, 0.5682078003883362, 1.5844587087631226, -0.9222171306610107, -2.022392511367798, -6.416223186533898e-05, 6.416223186533898e-05, 0.6540398001670837, -1.6710536479949951, 1.3738842010498047, -1.741245150566101, 0.8695735335350037, 1.4803158044815063, -0.001249968889169395, 0.001249968889169395], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7188906669616699, 0.5682078003883362, 1.5844587087631226, -0.927176296710968, -2.022392511367798, -6.416223186533898e-05, 6.416223186533898e-05, 0.650225043296814, -1.6927977800369263, 1.3803693056106567, -1.7351415157318115, 0.8619440197944641, 1.4806973934173584, -0.007128912024199963, 0.007128912024199963], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7188906669616699, 0.5678263306617737, 1.5844587087631226, -0.9313725233078003, -2.0220110416412354, -6.416223186533898e-05, 6.416223186533898e-05, 0.6464102864265442, -1.7034790515899658, 1.3891432285308838, -1.7343785762786865, 0.8554589152336121, 1.497100830078125, -0.009822113439440727, 0.009822113439440727], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7188906669616699, 0.5682078003883362, 1.5844587087631226, -0.9378576278686523, -2.0220110416412354, -6.416223186533898e-05, 6.416223186533898e-05, 0.6330586671829224, -1.7092012166976929, 1.4024949073791504, -1.743533968925476, 0.8546959757804871, 1.5383001565933228, -0.010254460386931896, 0.010254460386931896], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7188906669616699, 0.5682078003883362, 1.5844587087631226, -0.9420538544654846, -2.0220110416412354, -6.083200787543319e-05, 6.083200787543319e-05, 0.6132219433784485, -1.7122529745101929, 1.415464997291565, -1.744296908378601, 0.8527885675430298, 1.571869969367981, -0.010246384888887405, 0.010246384888887405], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7188906669616699, 0.5678263306617737, 1.5844587087631226, -0.9447242021560669, -2.0220110416412354, -6.083200787543319e-05, 6.083200787543319e-05, 0.5937666893005371, -1.715686321258545, 1.425001859664917, -1.744296908378601, 0.8516441583633423, 1.595902919769287, -0.010246384888887405, 0.010246384888887405], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7188906669616699, 0.5678263306617737, 1.5844587087631226, -0.9458686113357544, -2.0220110416412354, -6.416223186533898e-05, 6.416223186533898e-05, 0.5739299654960632, -1.71950101852417, 1.429961085319519, -1.743533968925476, 0.8520256280899048, 1.6107804775238037, -0.010238311253488064, 0.010238311253488064], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7204165458679199, 0.5678263306617737, 1.5844587087631226, -0.9466315507888794, -2.019340753555298, -6.416223186533898e-05, 6.416223186533898e-05, 0.5556191205978394, -1.72255277633667, 1.4326313734054565, -1.7439154386520386, 0.8516441583633423, 1.6199358701705933, -0.010230240412056446, 0.010230240412056446], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7215610146522522, 0.5678263306617737, 1.5844587087631226, -0.9473945498466492, -2.0189592838287354, -6.416223186533898e-05, 6.416223186533898e-05, 0.5430304408073425, -1.7256046533584595, 1.434157371520996, -1.7439154386520386, 0.8504997491836548, 1.6268024444580078, -0.010214107111096382, 0.010214107111096382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7219424843788147, 0.5678263306617737, 1.5844587087631226, -0.9477760195732117, -2.0189592838287354, -6.416223186533898e-05, 6.416223186533898e-05, 0.5365453362464905, -1.7294193506240845, 1.4345388412475586, -1.7431524991989136, 0.8478294014930725, 1.6283283233642578, -0.010214107111096382, 0.010214107111096382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7219424843788147, 0.5682078003883362, 1.5844587087631226, -0.9485389590263367, -2.0181963443756104, -6.416223186533898e-05, 6.416223186533898e-05, 0.5319676399230957, -1.7336156368255615, 1.4345388412475586, -1.743533968925476, 0.84744793176651, 1.6309987306594849, -0.010206044651567936, 0.010206044651567936], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7219424843788147, 0.5678263306617737, 1.5844587087631226, -0.9485389590263367, -2.016288995742798, -6.416223186533898e-05, 6.416223186533898e-05, 0.5292973518371582, -1.7385748624801636, 1.434920310974121, -1.743533968925476, 0.8470664620399475, 1.6325246095657349, -0.010206044651567936, 0.010206044651567936], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7219424843788147, 0.5682078003883362, 1.5844587087631226, -0.9485389590263367, -2.016288995742798, -6.083200787543319e-05, 6.083200787543319e-05, 0.5292973518371582, -1.742771029472351, 1.434920310974121, -1.7431524991989136, 0.8436331748962402, 1.6336690187454224, -0.010061359032988548, 0.010061359032988548], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7219424843788147, 0.5678263306617737, 1.5844587087631226, -0.9485389590263367, -2.016288995742798, -6.416223186533898e-05, 6.416223186533898e-05, 0.5285343527793884, -1.7469673156738281, 1.434920310974121, -1.742771029472351, 0.8436331748962402, 1.6336690187454224, -0.010061359032988548, 0.010061359032988548], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7219424843788147, 0.5678263306617737, 1.5844587087631226, -0.9481574892997742, -2.016288995742798, -6.083200787543319e-05, 6.083200787543319e-05, 0.5273899435997009, -1.7500190734863281, 1.434920310974121, -1.7431524991989136, 0.8436331748962402, 1.6336690187454224, -0.010061359032988548, 0.010061359032988548], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7223239541053772, 0.5678263306617737, 1.5844587087631226, -0.9485389590263367, -2.016288995742798, -6.083200787543319e-05, 6.083200787543319e-05, 0.5273899435997009, -1.7515449523925781, 1.434920310974121, -1.7431524991989136, 0.8398184180259705, 1.6336690187454224, -0.009965375997126102, 0.009965375997126102], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7223239541053772, 0.5678263306617737, 1.5844587087631226, -0.9481574892997742, -2.016288995742798, -6.083200787543319e-05, 6.083200787543319e-05, 0.5273899435997009, -1.7549782991409302, 1.434920310974121, -1.742771029472351, 0.837911069393158, 1.6336690187454224, -0.009257717058062553, 0.009257717058062553], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7234683632850647, 0.5678263306617737, 1.5844587087631226, -0.9477760195732117, -2.016288995742798, -6.416223186533898e-05, 6.416223186533898e-05, 0.5273899435997009, -1.7587929964065552, 1.434920310974121, -1.7423895597457886, 0.8348592519760132, 1.6336690187454224, -0.009188150987029076, 0.009188150987029076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7242313027381897, 0.5682078003883362, 1.5844587087631226, -0.9466315507888794, -2.0166704654693604, -6.416223186533898e-05, 6.416223186533898e-05, 0.5273899435997009, -1.7626078128814697, 1.434920310974121, -1.7385748624801636, 0.8318074345588684, 1.6336690187454224, -0.00895785540342331, 0.00895785540342331], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7242313027381897, 0.5678263306617737, 1.5844587087631226, -0.9462500810623169, -2.0166704654693604, -6.083200787543319e-05, 6.083200787543319e-05, 0.5277714133262634, -1.7660410404205322, 1.434920310974121, -1.7351415157318115, 0.8257037997245789, 1.6336690187454224, -0.00785808078944683, 0.00785808078944683], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7242313027381897, 0.5678263306617737, 1.5844587087631226, -0.9462500810623169, -2.0166704654693604, -6.083200787543319e-05, 6.083200787543319e-05, 0.5285343527793884, -1.7687113285064697, 1.4353017807006836, -1.7301822900772095, 0.8237964510917664, 1.6336690187454224, -0.00490566436201334, 0.00490566436201334], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7242313027381897, 0.5682078003883362, 1.5844587087631226, -0.9462500810623169, -2.0189592838287354, -6.416223186533898e-05, 6.416223186533898e-05, 0.5292973518371582, -1.7706187963485718, 1.435683250427246, -1.7263675928115845, 0.8215075731277466, 1.6336690187454224, -0.0005842592217959464, 0.0005842592217959464], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7242313027381897, 0.5678263306617737, 1.5844587087631226, -0.9462500810623169, -2.0189592838287354, -6.416223186533898e-05, 6.416223186533898e-05, 0.5292973518371582, -1.7698558568954468, 1.435683250427246, -1.7240787744522095, 0.8211261034011841, 1.6336690187454224, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7242313027381897, 0.5682078003883362, 1.5844587087631226, -0.9462500810623169, -2.0189592838287354, -6.416223186533898e-05, 6.416223186533898e-05, 0.5350194573402405, -1.7595559358596802, 1.4345388412475586, -1.7248417139053345, 0.8253223299980164, 1.6336690187454224, -0.0003339504764880985, 0.0003339504764880985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7242313027381897, 0.5678263306617737, 1.5844587087631226, -0.9470130205154419, -2.0189592838287354, -6.416223186533898e-05, 6.416223186533898e-05, 0.5544747114181519, -1.734760046005249, 1.434920310974121, -1.729037880897522, 0.8253223299980164, 1.6336690187454224, -0.0003339504764880985, 0.0003339504764880985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7234683632850647, 0.5682078003883362, 1.5844587087631226, -0.9473945498466492, -2.019340753555298, -6.083200787543319e-05, 6.083200787543319e-05, 0.5903334021568298, -1.7046234607696533, 1.434920310974121, -1.724460244178772, 0.837911069393158, 1.6336690187454224, -0.0003339504764880985, 0.0003339504764880985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7219424843788147, 0.5678263306617737, 1.5844587087631226, -0.9477760195732117, -2.019340753555298, -6.083200787543319e-05, 6.083200787543319e-05, 0.6349660754203796, -1.6729609966278076, 1.4337759017944336, -1.728274941444397, 0.8718623518943787, 1.6332875490188599, -0.0003339504764880985, 0.0003339504764880985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7219424843788147, 0.5678263306617737, 1.5844587087631226, -0.9473945498466492, -2.0189592838287354, -6.416223186533898e-05, 6.416223186533898e-05, 0.6857023239135742, -1.6401541233062744, 1.419661283493042, -1.741245150566101, 0.9061951637268066, 1.6329060792922974, -0.0003339504764880985, 0.0003339504764880985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7219424843788147, 0.5678263306617737, 1.5844587087631226, -0.9462500810623169, -2.0189592838287354, -6.083200787543319e-05, 6.083200787543319e-05, 0.7413977384567261, -1.6069657802581787, 1.3864728212356567, -1.7431524991989136, 0.9332799315452576, 1.6302357912063599, -0.0003339504764880985, 0.0003339504764880985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7219424843788147, 0.5678263306617737, 1.5844587087631226, -0.9458686113357544, -2.0181963443756104, -6.416223186533898e-05, 6.416223186533898e-05, 0.7848859429359436, -1.5749218463897705, 1.343747615814209, -1.7496376037597656, 0.9485389590263367, 1.6298543214797974, -0.0003339504764880985, 0.0003339504764880985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7223239541053772, 0.5670633912086487, 1.5844587087631226, -0.9454871416091919, -2.0159075260162354, -6.083200787543319e-05, 6.083200787543319e-05, 0.8169298768043518, -1.5497443675994873, 1.2972075939178467, -1.7584115266799927, 0.9611276388168335, 1.6298543214797974, -0.0003339504764880985, 0.0003339504764880985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7238498330116272, 0.5670633912086487, 1.5844587087631226, -0.9451056718826294, -2.015526056289673, -6.416223186533898e-05, 6.416223186533898e-05, 0.8455405235290527, -1.5352483987808228, 1.2529563903808594, -1.7557412385940552, 0.968757152557373, 1.6268024444580078, -0.0003339504764880985, 0.0003339504764880985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.726901650428772, 0.5670633912086487, 1.5844587087631226, -0.9435797929763794, -2.015526056289673, -6.416223186533898e-05, 6.416223186533898e-05, 0.8646143078804016, -1.5260928869247437, 1.2151904106140137, -1.7538337707519531, 0.969520092010498, 1.6268024444580078, -0.0006025503971613944, 0.0006025503971613944], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7318608164787292, 0.5670633912086487, 1.5844587087631226, -0.9428167939186096, -2.015526056289673, -6.083200787543319e-05, 6.083200787543319e-05, 0.8703364729881287, -1.5215152502059937, 1.190394401550293, -1.7565041780471802, 0.9740977883338928, 1.6268024444580078, -0.00697705801576376, 0.00697705801576376], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.735675573348999, 0.5670633912086487, 1.5844587087631226, -0.9428167939186096, -2.0151445865631104, -6.083200787543319e-05, 6.083200787543319e-05, 0.8768215179443359, -1.518463373184204, 1.177805781364441, -1.7576485872268677, 0.9748607873916626, 1.6268024444580078, -0.010546925477683544, 0.010546925477683544], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7372015118598938, 0.5670633912086487, 1.5844587087631226, -0.9431982636451721, -2.0151445865631104, -6.416223186533898e-05, 6.416223186533898e-05, 0.8741512298583984, -1.516174554824829, 1.1781872510910034, -1.7549782991409302, 0.9744792580604553, 1.6268024444580078, -0.010546925477683544, 0.010546925477683544], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7383459210395813, 0.5666819214820862, 1.5844587087631226, -0.9435797929763794, -2.014763116836548, -6.416223186533898e-05, 6.416223186533898e-05, 0.8512626886367798, -1.516937494277954, 1.1957350969314575, -1.7591744661331177, 0.9744792580604553, 1.6271839141845703, -0.010546925477683544, 0.010546925477683544], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7383459210395813, 0.5666819214820862, 1.5844587087631226, -0.9439612627029419, -2.014763116836548, -6.416223186533898e-05, 6.416223186533898e-05, 0.8215075731277466, -1.5264743566513062, 1.2224383354187012, -1.7614632844924927, 0.9748607873916626, 1.6271839141845703, -0.010546925477683544, 0.010546925477683544], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7383459210395813, 0.5666819214820862, 1.5844587087631226, -0.9435797929763794, -2.014763116836548, -6.416223186533898e-05, 6.416223186533898e-05, 0.7856488823890686, -1.5466926097869873, 1.2541009187698364, -1.7584115266799927, 0.9740977883338928, 1.6271839141845703, -0.010546925477683544, 0.010546925477683544], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7383459210395813, 0.5666819214820862, 1.5844587087631226, -0.9431982636451721, -2.014763116836548, -6.416223186533898e-05, 6.416223186533898e-05, 0.7543678879737854, -1.5722514390945435, 1.28080415725708, -1.7603188753128052, 0.9729533791542053, 1.6275653839111328, -0.010546925477683544, 0.010546925477683544], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7383459210395813, 0.5670633912086487, 1.5844587087631226, -0.9424353241920471, -2.014763116836548, -6.416223186533898e-05, 6.416223186533898e-05, 0.735675573348999, -1.5989547967910767, 1.2991149425506592, -1.7618448734283447, 0.9641794562339783, 1.6275653839111328, -0.01052242610603571, 0.01052242610603571], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7383459210395813, 0.5670633912086487, 1.5844587087631226, -0.9420538544654846, -2.014763116836548, -6.083200787543319e-05, 6.083200787543319e-05, 0.7227054238319397, -1.6214618682861328, 1.3082703351974487, -1.7580300569534302, 0.9454871416091919, 1.6275653839111328, -0.010432790964841843, 0.010432790964841843], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7387273907661438, 0.5666819214820862, 1.5844587087631226, -0.9409094452857971, -2.0143816471099854, -6.416223186533898e-05, 6.416223186533898e-05, 0.7093538045883179, -1.6393911838531494, 1.3128480911254883, -1.7580300569534302, 0.9298466444015503, 1.6290913820266724, -0.010424656793475151, 0.010424656793475151], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7398717999458313, 0.5670633912086487, 1.5844587087631226, -0.9382390975952148, -2.0143816471099854, -6.416223186533898e-05, 6.416223186533898e-05, 0.700579822063446, -1.651598334312439, 1.3155183792114258, -1.7584115266799927, 0.9142061471939087, 1.6306172609329224, -0.010125558823347092, 0.010125558823347092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7410162687301636, 0.5666819214820862, 1.5844587087631226, -0.9374761581420898, -2.0143816471099854, -6.416223186533898e-05, 6.416223186533898e-05, 0.6963835954666138, -1.6599907875061035, 1.3174258470535278, -1.7568856477737427, 0.9004730582237244, 1.6302357912063599, -0.010109493508934975, 0.010109493508934975], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7433050870895386, 0.5666819214820862, 1.5844587087631226, -0.9332799315452576, -2.0143816471099854, -6.416223186533898e-05, 6.416223186533898e-05, 0.6914244294166565, -1.665331482887268, 1.3178073167800903, -1.7568856477737427, 0.8966583013534546, 1.6302357912063599, -0.010045335628092289, 0.010045335628092289], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7452124953269958, 0.5666819214820862, 1.5844587087631226, -0.9309910535812378, -2.0143816471099854, -6.416223186533898e-05, 6.416223186533898e-05, 0.6891355514526367, -1.667620301246643, 1.3178073167800903, -1.7576485872268677, 0.892080545425415, 1.6302357912063599, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7467383742332458, 0.5666819214820862, 1.5844587087631226, -0.9306095838546753, -2.0143816471099854, -6.083200787543319e-05, 6.083200787543319e-05, 0.6898985505104065, -1.6699092388153076, 1.3178073167800903, -1.7549782991409302, 0.89131760597229, 1.6302357912063599, -0.006055878475308418, 0.006055878475308418], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7467383742332458, 0.5666819214820862, 1.5844587087631226, -0.9302281141281128, -2.0143816471099854, -6.416223186533898e-05, 6.416223186533898e-05, 0.689517080783844, -1.6725795269012451, 1.3178073167800903, -1.7545968294143677, 0.8928435444831848, 1.6302357912063599, -0.0044208490289747715, 0.0044208490289747715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7467383742332458, 0.5666819214820862, 1.5844587087631226, -0.9290837049484253, -2.0143816471099854, -6.416223186533898e-05, 6.416223186533898e-05, 0.6891355514526367, -1.6756312847137451, 1.3181887865066528, -1.7549782991409302, 0.9012359976768494, 1.6302357912063599, -0.0005116468528285623, 0.0005116468528285623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7471198439598083, 0.5666819214820862, 1.5844587087631226, -0.927176296710968, -2.0143816471099854, -6.416223186533898e-05, 6.416223186533898e-05, 0.6891355514526367, -1.6779202222824097, 1.3189517259597778, -1.7572671175003052, 0.9077210426330566, 1.6302357912063599, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7471198439598083, 0.5670633912086487, 1.5844587087631226, -0.927176296710968, -2.0143816471099854, -6.416223186533898e-05, 6.416223186533898e-05, 0.6891355514526367, -1.6775387525558472, 1.3193331956863403, -1.7576485872268677, 0.9138246774673462, 1.6302357912063599, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7467383742332458, 0.5678263306617737, 1.5844587087631226, -0.927176296710968, -2.0143816471099854, -6.416223186533898e-05, 6.416223186533898e-05, 0.6891355514526367, -1.6683833599090576, 1.3185702562332153, -1.7538337707519531, 0.9401465058326721, 1.6298543214797974, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7448310256004333, 0.5754558444023132, 1.584840178489685, -0.9180209040641785, -2.010948419570923, -6.083200787543319e-05, 6.083200787543319e-05, 0.6891355514526367, -1.6458762884140015, 1.3185702562332153, -1.7538337707519531, 0.9374761581420898, 1.6298543214797974, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7501716613769531, 0.5968185067176819, 1.5844587087631226, -0.9081025123596191, -1.9930189847946167, -6.416223186533898e-05, 6.416223186533898e-05, 0.6891355514526367, -1.6203173398971558, 1.3181887865066528, -1.7538337707519531, 0.9386205673217773, 1.6298543214797974, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.841725766658783, -0.778782308101654, 0.6300068497657776, 1.5852216482162476, -0.9008545279502869, -1.9625009298324585, -6.416223186533898e-05, 6.416223186533898e-05, 0.6891355514526367, -1.596665859222412, 1.3185702562332153, -1.7542153596878052, 0.9405279755592346, 1.6298543214797974, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -0.8314259648323059, 0.6685358881950378, 1.5867475271224976, -0.8901731967926025, -1.9308384656906128, -0.005360324401408434, 0.005360324401408434, 0.6891355514526367, -1.583314299583435, 1.3185702562332153, -1.7542153596878052, 0.9454871416091919, 1.6298543214797974, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, -0.9058136940002441, 0.7146944403648376, 1.5852216482162476, -0.8787289261817932, -1.9090943336486816, -0.012631773017346859, 0.012631773017346859, 0.6891355514526367, -1.578355073928833, 1.3178073167800903, -1.7542153596878052, 0.9493018984794617, 1.6294728517532349, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9061951637268066, -0.9927901029586792, 0.7608529925346375, 1.58407723903656, -0.8699550032615662, -1.8915464878082275, -0.013690480031073093, 0.013690480031073093, 0.6891355514526367, -1.5749218463897705, 1.3178073167800903, -1.7542153596878052, 0.9496833682060242, 1.6294728517532349, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9306095838546753, -1.0683223009109497, 0.7940413355827332, 1.58407723903656, -0.8581292629241943, -1.875905990600586, -0.013690480031073093, 0.013690480031073093, 0.6891355514526367, -1.574158787727356, 1.3178073167800903, -1.7545968294143677, 0.9496833682060242, 1.6290913820266724, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9473945498466492, -1.1301213502883911, 0.8150225281715393, 1.5836957693099976, -0.8501182794570923, -1.8614099025726318, -0.013690480031073093, 0.013690480031073093, 0.6891355514526367, -1.574158787727356, 1.3178073167800903, -1.7545968294143677, 0.9500648379325867, 1.6290913820266724, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9554055333137512, -1.1724650859832764, 0.8237964510917664, 1.5836957693099976, -0.839436948299408, -1.8434805870056152, -0.013690480031073093, 0.013690480031073093, 0.6891355514526367, -1.574540376663208, 1.3178073167800903, -1.7545968294143677, 0.9496833682060242, 1.6290913820266724, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9596017599105835, -1.1987868547439575, 0.8283741474151611, 1.5836957693099976, -0.8291370868682861, -1.8293659687042236, -0.013690480031073093, 0.013690480031073093, 0.6891355514526367, -1.5749218463897705, 1.3178073167800903, -1.7545968294143677, 0.9493018984794617, 1.6287097930908203, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9618905782699585, -1.2209124565124512, 0.8299000263214111, 1.5836957693099976, -0.8203631639480591, -1.8175402879714966, -0.013681457377970219, 0.013681457377970219, 0.6891355514526367, -1.576066255569458, 1.3178073167800903, -1.7545968294143677, 0.9447242021560669, 1.6287097930908203, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9626535177230835, -1.2384604215621948, 0.8302815556526184, 1.58407723903656, -0.8157854676246643, -1.8133440017700195, -0.013690480031073093, 0.013690480031073093, 0.6891355514526367, -1.576829195022583, 1.3178073167800903, -1.7549782991409302, 0.9393835067749023, 1.6283283233642578, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9634165167808533, -1.2521934509277344, 0.8295185565948486, 1.58407723903656, -0.8096818327903748, -1.8095293045043945, -0.013681457377970219, 0.013681457377970219, 0.6891355514526367, -1.5787365436553955, 1.3178073167800903, -1.7549782991409302, 0.9374761581420898, 1.6275653839111328, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9634165167808533, -1.260585904121399, 0.8264667987823486, 1.58407723903656, -0.8012893795967102, -1.8068588972091675, -0.013681457377970219, 0.013681457377970219, 0.6891355514526367, -1.579118013381958, 1.3178073167800903, -1.7553597688674927, 0.9317540526390076, 1.6275653839111328, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9634165167808533, -1.267833948135376, 0.8226520419120789, 1.58407723903656, -0.7909895181655884, -1.806477427482605, -0.013681457377970219, 0.013681457377970219, 0.6891355514526367, -1.579880952835083, 1.3178073167800903, -1.7553597688674927, 0.9302281141281128, 1.6275653839111328, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9634165167808533, -1.275081992149353, 0.8203631639480591, 1.58407723903656, -0.7833600640296936, -1.806477427482605, -0.013537386432290077, 0.013537386432290077, 0.6891355514526367, -1.579880952835083, 1.3178073167800903, -1.7553597688674927, 0.9298466444015503, 1.6275653839111328, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9634165167808533, -1.27927827835083, 0.8169298768043518, 1.58407723903656, -0.775730550289154, -1.8060959577560425, -0.011800798587501049, 0.011800798587501049, 0.6891355514526367, -1.579880952835083, 1.3178073167800903, -1.7557412385940552, 0.9283207654953003, 1.6275653839111328, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9634165167808533, -1.2827115058898926, 0.8127336502075195, 1.5844587087631226, -0.7665750980377197, -1.80571448802948, -0.007750028744339943, 0.007750028744339943, 0.6891355514526367, -1.579880952835083, 1.3178073167800903, -1.7557412385940552, 0.9267948269844055, 1.6279468536376953, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9634165167808533, -1.2850003242492676, 0.8100633025169373, 1.5844587087631226, -0.760471522808075, -1.80571448802948, -0.005565394181758165, 0.005565394181758165, 0.6891355514526367, -1.579880952835083, 1.3178073167800903, -1.7561227083206177, 0.9267948269844055, 1.6279468536376953, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9634165167808533, -1.2872892618179321, 0.8077744841575623, 1.5852216482162476, -0.7555122971534729, -1.80571448802948, -0.003999161068350077, 0.003999161068350077, 0.6891355514526367, -1.579880952835083, 1.3178073167800903, -1.7557412385940552, 0.927176296710968, 1.6279468536376953, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.962272047996521, -1.2888151407241821, 0.8062485456466675, 1.5882734060287476, -0.7536049485206604, -1.80571448802948, -0.00040791957871988416, 0.00040791957871988416, 0.6891355514526367, -1.579880952835083, 1.3178073167800903, -1.7557412385940552, 0.9302281141281128, 1.6287097930908203, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.962272047996521, -1.2888151407241821, 0.804341197013855, 1.587891936302185, -0.7505531311035156, -1.8060959577560425, -0.00019227426673751324, 0.00019227426673751324, 0.6891355514526367, -1.579880952835083, 1.3178073167800903, -1.7557412385940552, 0.9332799315452576, 1.6290913820266724, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.962272047996521, -1.28233003616333, 0.8016708493232727, 1.5867475271224976, -0.7501716613769531, -1.806477427482605, -0.00019227426673751324, 0.00019227426673751324, 0.6891355514526367, -1.579880952835083, 1.3178073167800903, -1.7557412385940552, 0.9386205673217773, 1.6294728517532349, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9634165167808533, -1.256771206855774, 0.8016708493232727, 1.579880952835083, -0.7585641145706177, -1.8102922439575195, -0.00019227426673751324, 0.00019227426673751324, 0.6891355514526367, -1.5787365436553955, 1.3178073167800903, -1.7557412385940552, 0.9458686113357544, 1.6294728517532349, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9618905782699585, -1.2186236381530762, 0.8012893795967102, 1.58407723903656, -0.7738231420516968, -1.810673713684082, -0.00019227426673751324, 0.00019227426673751324, 0.6891355514526367, -1.573395848274231, 1.3178073167800903, -1.7557412385940552, 0.9500648379325867, 1.6294728517532349, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951972246170044, -1.1724650859832764, 0.8001449704170227, 1.5829328298568726, -0.7932783961296082, -1.8133440017700195, -0.00019227426673751324, 0.00019227426673751324, 0.6887540817260742, -1.5627145767211914, 1.3166629076004028, -1.7557412385940552, 0.9531166553497314, 1.6294728517532349, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9294651746749878, -1.119439959526062, 0.7967116832733154, 1.58407723903656, -0.8165484070777893, -1.813725471496582, -0.00018886369070969522, 0.00018886369070969522, 0.6872282028198242, -1.5440223217010498, 1.3120851516723633, -1.7557412385940552, 0.9538795948028564, 1.6294728517532349, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8932250142097473, -1.0618371963500977, 0.7898451089859009, 1.5844587087631226, -0.8421072959899902, -1.812962532043457, -0.00019227426673751324, 0.00019227426673751324, 0.6792172193527222, -1.5165560245513916, 1.3006408214569092, -1.7557412385940552, 0.9565499424934387, 1.6294728517532349, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -1.0023269653320312, 0.7784008383750916, 1.5882734060287476, -0.8684290647506714, -1.8015183210372925, -0.00019227426673751324, 0.00019227426673751324, 0.6624323129653931, -1.4780269861221313, 1.2788968086242676, -1.7557412385940552, 0.9557870030403137, 1.6294728517532349, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7803082466125488, -0.9451056718826294, 0.7631418108940125, 1.58865487575531, -0.88979172706604, -1.7824444770812988, -0.00019227426673751324, 0.00019227426673751324, 0.6345845460891724, -1.4265278577804565, 1.2453268766403198, -1.7557412385940552, 0.952735185623169, 1.6298543214797974, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7127870321273804, -0.8916990756988525, 0.7459754347801208, 1.591325283050537, -0.9035248160362244, -1.7599374055862427, -0.00018886369070969522, 0.00018886369070969522, 0.6013962030410767, -1.3715953826904297, 1.2075608968734741, -1.7557412385940552, 0.9515907764434814, 1.6302357912063599, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6445029377937317, -0.8463035225868225, 0.7295719981193542, 1.5909438133239746, -0.9119172692298889, -1.7401007413864136, -0.00019227426673751324, 0.00019227426673751324, 0.5643930435180664, -1.3120851516723633, 1.1682689189910889, -1.7557412385940552, 0.9466315507888794, 1.6306172609329224, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5781261920928955, -0.810826301574707, 0.7158388495445251, 1.5909438133239746, -0.9153505563735962, -1.720263957977295, -0.00019227426673751324, 0.00019227426673751324, 0.5296788215637207, -1.255245327949524, 1.1331731081008911, -1.7557412385940552, 0.9462500810623169, 1.6309987306594849, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5178530812263489, -0.7837415337562561, 0.7066834568977356, 1.591325283050537, -0.9149690866470337, -1.7008087635040283, -0.00019227426673751324, 0.00019227426673751324, 0.4972533881664276, -1.2052719593048096, 1.1007477045059204, -1.7549782991409302, 0.9458686113357544, 1.6309987306594849, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4655908942222595, -0.760471522808075, 0.7013428211212158, 1.5909438133239746, -0.9119172692298889, -1.6813534498214722, -0.00019227426673751324, 0.00019227426673751324, 0.4694056510925293, -1.1667429208755493, 1.0759518146514893, -1.7553597688674927, 0.9470130205154419, 1.6321431398391724, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4194323718547821, -0.7398717999458313, 0.6986724734306335, 1.591325283050537, -0.9073395729064941, -1.662279725074768, -0.00019227426673751324, 0.00019227426673751324, 0.44155794382095337, -1.1331731081008911, 1.0523003339767456, -1.7549782991409302, 0.9515907764434814, 1.6348134279251099, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.38128480315208435, -0.7230868935585022, 0.697528064250946, 1.5909438133239746, -0.9046692848205566, -1.6474021673202515, -0.00019227426673751324, 0.00019227426673751324, 0.41409170627593994, -1.104943871498108, 1.0290303230285645, -1.7545968294143677, 0.953498125076294, 1.6409170627593994, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.35114824771881104, -0.7097352743148804, 0.6960021257400513, 1.5909438133239746, -0.9042877554893494, -1.6329060792922974, -0.00019227426673751324, 0.00019227426673751324, 0.3843366205692291, -1.0805294513702393, 1.0065232515335083, -1.7549782991409302, 0.9573128819465637, 1.6458762884140015, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.7001983523368835, 0.6952391862869263, 1.590562343597412, -0.9031433463096619, -1.6248950958251953, -0.00019227426673751324, 0.00019227426673751324, 0.3561074137687683, -1.0614557266235352, 0.9859235286712646, -1.7549782991409302, 0.9580758213996887, 1.6474021673202515, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3118562698364258, -0.6952391862869263, 0.6948577165603638, 1.5909438133239746, -0.9012359976768494, -1.6187914609909058, -0.00019227426673751324, 0.00019227426673751324, 0.3286411762237549, -1.047722578048706, 0.9653238654136658, -1.7545968294143677, 0.959220290184021, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.30193790793418884, -0.692568838596344, 0.6944762468338013, 1.5897992849349976, -0.9012359976768494, -1.6145952939987183, -0.00019227426673751324, 0.00019227426673751324, 0.30155640840530396, -1.035896897315979, 0.9420538544654846, -1.7549782991409302, 0.9596017599105835, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2962157726287842, -0.6914244294166565, 0.693331778049469, 1.589417815208435, -0.9012359976768494, -1.6115434169769287, -0.00019227426673751324, 0.00019227426673751324, 0.2779049277305603, -1.0267413854599, 0.9210727214813232, -1.7545968294143677, 0.959983229637146, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.290875107049942, -0.691042959690094, 0.6921873688697815, 1.589417815208435, -0.9016174674034119, -1.6115434169769287, -0.00019227426673751324, 0.00019227426673751324, 0.25310903787612915, -1.019874930381775, 0.9016174674034119, -1.7549782991409302, 0.9596017599105835, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28591591119766235, -0.691042959690094, 0.691042959690094, 1.589417815208435, -0.9050507545471191, -1.6111619472503662, -0.00019227426673751324, 0.00019227426673751324, 0.22793163359165192, -1.0137712955474854, 0.883306622505188, -1.7549782991409302, 0.959220290184021, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2813382148742676, -0.691042959690094, 0.6906614899635315, 1.5897992849349976, -0.9058136940002441, -1.6107804775238037, -0.00019227426673751324, 0.00019227426673751324, 0.20580606162548065, -1.0084306001663208, 0.8676661252975464, -1.7565041780471802, 0.9596017599105835, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.27218279242515564, -0.691042959690094, 0.689517080783844, 1.5901808738708496, -0.9081025123596191, -1.6077287197113037, -0.00019227426673751324, 0.00019227426673751324, 0.19054703414440155, -1.0042344331741333, 0.8558403849601746, -1.7587929964065552, 0.9580758213996887, 1.650072455406189, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2599755823612213, -0.690280020236969, 0.6887540817260742, 1.590562343597412, -0.9084840416908264, -1.6062028408050537, -0.00019227426673751324, 0.00019227426673751324, 0.1802472025156021, -1.0023269653320312, 0.848210871219635, -1.7595559358596802, 0.9565499424934387, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24090181291103363, -0.6887540817260742, 0.6868467330932617, 1.590562343597412, -0.9092469811439514, -1.6035324335098267, -0.00019227426673751324, 0.00019227426673751324, 0.17338064312934875, -1.0023269653320312, 0.8436331748962402, -1.7626078128814697, 0.9561684727668762, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -0.6845578551292419, 0.6841763854026794, 1.590562343597412, -0.9119172692298889, -1.5993362665176392, -0.00019227426673751324, 0.00019227426673751324, 0.16994735598564148, -1.0027084350585938, 0.840962827205658, -1.7648966312408447, 0.9561684727668762, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18749523162841797, -0.6795986890792847, 0.6818875670433044, 1.590562343597412, -0.9119172692298889, -1.595139980316162, -0.00019227426673751324, 0.00019227426673751324, 0.1672770231962204, -1.0057603120803833, 0.8390554785728455, -1.7648966312408447, 0.9554055333137512, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16269932687282562, -0.6746395230293274, 0.6799801588058472, 1.590562343597412, -0.9119172692298889, -1.58865487575531, -0.00018886369070969522, 0.00018886369070969522, 0.1657511293888092, -1.0091935396194458, 0.8382925391197205, -1.7648966312408447, 0.955024003982544, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14057374000549316, -0.6712062358856201, 0.6784542798995972, 1.590562343597412, -0.9119172692298889, -1.5836957693099976, -0.00019227426673751324, 0.00019227426673751324, 0.164988175034523, -1.0103379487991333, 0.8382925391197205, -1.7648966312408447, 0.9538795948028564, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12111848592758179, -0.6696802973747253, 0.6765468716621399, 1.590562343597412, -0.9122987985610962, -1.576829195022583, -0.00018886369070969522, 0.00018886369070969522, 0.16346226632595062, -1.0118639469146729, 0.8382925391197205, -1.7656595706939697, 0.9538795948028564, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10624094307422638, -0.6681544184684753, 0.6754024624824524, 1.590562343597412, -0.9119172692298889, -1.571107029914856, -0.00019227426673751324, 0.00019227426673751324, 0.16231784224510193, -1.0130083560943604, 0.8382925391197205, -1.7664225101470947, 0.954261064529419, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09555962681770325, -0.6692988276481628, 0.6746395230293274, 1.5901808738708496, -0.9115357995033264, -1.566529393196106, -0.00019227426673751324, 0.00019227426673751324, 0.16079194843769073, -1.0152971744537354, 0.8382925391197205, -1.7698558568954468, 0.954261064529419, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0883115902543068, -0.6708247661590576, 0.6738765835762024, 1.5909438133239746, -0.9115357995033264, -1.562333106994629, -0.00019227426673751324, 0.00019227426673751324, 0.15926603972911835, -1.0172045230865479, 0.8382925391197205, -1.7725261449813843, 0.954261064529419, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08297093212604523, -0.6727321147918701, 0.6738765835762024, 1.5901808738708496, -0.9115357995033264, -1.559281349182129, -0.00019227426673751324, 0.00019227426673751324, 0.15659570693969727, -1.0191118717193604, 0.8382925391197205, -1.7732890844345093, 0.954261064529419, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08030059933662415, -0.6746395230293274, 0.6738765835762024, 1.5901808738708496, -0.9111543297767639, -1.559281349182129, -0.00019227426673751324, 0.00019227426673751324, 0.15430685877799988, -1.0210193395614624, 0.8382925391197205, -1.7771037817001343, 0.9538795948028564, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07801175117492676, -0.6765468716621399, 0.6738765835762024, 1.590562343597412, -0.9115357995033264, -1.5588998794555664, -0.00019227426673751324, 0.00019227426673751324, 0.1527809500694275, -1.0225452184677124, 0.8382925391197205, -1.7809185981750488, 0.9531166553497314, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07763027399778366, -0.6784542798995972, 0.6738765835762024, 1.5901808738708496, -0.9111543297767639, -1.5577553510665894, -0.00019227426673751324, 0.00019227426673751324, 0.1512550562620163, -1.024452567100525, 0.8382925391197205, -1.7847332954406738, 0.952735185623169, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07572289556264877, -0.6803616285324097, 0.6738765835762024, 1.590562343597412, -0.9103913903236389, -1.5558480024337769, -0.00019227426673751324, 0.00019227426673751324, 0.1493476778268814, -1.0271228551864624, 0.8382925391197205, -1.7877851724624634, 0.9523537158966064, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07534141838550568, -0.6815060377120972, 0.6738765835762024, 1.5901808738708496, -0.9107728600502014, -1.5558480024337769, -0.00019227426673751324, 0.00019227426673751324, 0.1489662081003189, -1.0305562019348145, 0.8382925391197205, -1.7885481119155884, 0.9493018984794617, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0722896158695221, -0.6822690367698669, 0.6738765835762024, 1.5901808738708496, -0.9107728600502014, -1.5558480024337769, -0.00019227426673751324, 0.00019227426673751324, 0.14782176911830902, -1.0336079597473145, 0.8382925391197205, -1.7893110513687134, 0.9489204287528992, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06847485899925232, -0.6857023239135742, 0.6727321147918701, 1.590562343597412, -0.9107728600502014, -1.5554665327072144, -0.00019227426673751324, 0.00019227426673751324, 0.14705882966518402, -1.035896897315979, 0.8382925391197205, -1.7915998697280884, 0.9485389590263367, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06694895774126053, -0.6960021257400513, 0.6723506450653076, 1.5901808738708496, -0.9046692848205566, -1.5554665327072144, -0.00019227426673751324, 0.00019227426673751324, 0.14705882966518402, -1.0378042459487915, 0.8382925391197205, -1.7912184000015259, 0.9443427324295044, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08182650804519653, -0.7169833183288574, 0.6704432964324951, 1.591325283050537, -0.8844510316848755, -1.5558480024337769, -0.00018886369070969522, 0.00018886369070969522, 0.14705882966518402, -1.039711594581604, 0.8382925391197205, -1.7801556587219238, 0.9325169920921326, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11272602528333664, -0.7516975402832031, 0.6658655405044556, 1.5901808738708496, -0.8478294014930725, -1.5573738813400269, -0.00019227426673751324, 0.00019227426673751324, 0.14705882966518402, -1.0465781688690186, 0.8375295400619507, -1.7553597688674927, 0.9092469811439514, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1489662081003189, -0.7993820309638977, 0.6570916175842285, 1.590562343597412, -0.7993820309638977, -1.5676738023757935, -0.00019227426673751324, 0.00019227426673751324, 0.14744029939174652, -1.0606927871704102, 0.8367666006088257, -1.7221713066101074, 0.8787289261817932, 1.6496909856796265, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1848248988389969, -0.8493552803993225, 0.6441214680671692, 1.5875104665756226, -0.7387273907661438, -1.5749218463897705, -0.00019227426673751324, 0.00019227426673751324, 0.14858472347259521, -1.0793850421905518, 0.8340963125228882, -1.6912717819213867, 0.8508812189102173, 1.6496909856796265, -0.0010387446964159608, 0.0010387446964159608], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20618753135204315, -0.8894102573394775, 0.6364919543266296, 1.5882734060287476, -0.690280020236969, -1.5821698904037476, -0.007988576777279377, 0.007988576777279377, 0.1493476778268814, -1.0950255393981934, 0.8318074345588684, -1.6699092388153076, 0.8329518437385559, 1.649309515953064, -0.018016565591096878, 0.018016565591096878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21763180196285248, -0.8962767720222473, 0.6368734240531921, 1.5882734060287476, -0.6704432964324951, -1.5836957693099976, -0.01902606524527073, 0.01902606524527073, 0.1508735716342926, -1.0873960256576538, 0.8310444951057434, -1.6577019691467285, 0.8333333134651184, 1.6496909856796265, -0.025245586410164833, 0.025245586410164833], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22487983107566833, -0.8512626886367798, 0.649462103843689, 1.58865487575531, -0.6754024624824524, -1.566529393196106, -0.016128847375512123, 0.016128847375512123, 0.15964750945568085, -1.035896897315979, 0.8302815556526184, -1.652742862701416, 0.8485923409461975, 1.649309515953064, -0.01820201985538006, 0.01820201985538006], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25272753834724426, -0.7574197053909302, 0.6593804955482483, 1.592088222503662, -0.6857023239135742, -1.559281349182129, -0.0005587444175034761, 0.0005587444175034761, 0.200083926320076, -0.9382390975952148, 0.8249408602714539, -1.6504539251327515, 0.8630884289741516, 1.649309515953064, -0.00046492088586091995, 0.00046492088586091995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3225375711917877, -0.6452658772468567, 0.650225043296814, 1.591325283050537, -0.6876096725463867, -1.579118013381958, -0.0, 0.0, 0.2775234580039978, -0.8176928162574768, 0.7925154566764832, -1.646257758140564, 0.8470664620399475, 1.649309515953064, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42668038606643677, -0.5308232307434082, 0.6013962030410767, 1.5890363454818726, -0.6555657386779785, -1.6065843105316162, -0.0, 0.0, 0.403410404920578, -0.6719691753387451, 0.7143129706382751, -1.6439688205718994, 0.7532234787940979, 1.649309515953064, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5487525463104248, -0.4236285984516144, 0.5167086124420166, 1.587891936302185, -0.5560005903244019, -1.6260395050048828, -0.0, 0.0, 0.5395971536636353, -0.5415045619010925, 0.6044480204582214, -1.639772653579712, 0.6158922910690308, 1.6489280462265015, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6658655405044556, -0.343900203704834, 0.422102689743042, 1.587891936302185, -0.43125811219215393, -1.638246774673462, -0.0, 0.0, 0.6532768607139587, -0.4396505653858185, 0.4953460097312927, -1.640535593032837, 0.49076828360557556, 1.6489280462265015, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7574197053909302, -0.2939268946647644, 0.33321890234947205, 1.5882734060287476, -0.3068970739841461, -1.6577019691467285, -0.0, 0.0, 0.7505531311035156, -0.35152971744537354, 0.39387351274490356, -1.6401541233062744, 0.3912031650543213, 1.6489280462265015, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, -0.2622644305229187, 0.2569237947463989, 1.587891936302185, -0.1844434291124344, -1.6779202222824097, -0.0, 0.0, 0.8146410584449768, -0.2813382148742676, 0.3110933005809784, -1.6294728517532349, 0.30384528636932373, 1.6489280462265015, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8569847941398621, -0.23937590420246124, 0.1993209719657898, 1.58865487575531, -0.09822995215654373, -1.7034790515899658, -0.0, 0.0, 0.8531700372695923, -0.22297245264053345, 0.24204623699188232, -1.6222248077392578, 0.2317463904619217, 1.6489280462265015, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8760585784912109, -0.21763180196285248, 0.15812161564826965, 1.58865487575531, -0.04940108209848404, -1.71950101852417, -0.0, 0.0, 0.8722438216209412, -0.17719538509845734, 0.18520638346672058, -1.6176470518112183, 0.17757686972618103, 1.6489280462265015, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.2004653960466385, 0.13179980218410492, 1.589417815208435, -0.02231631986796856, -1.7294193506240845, -0.0, 0.0, 0.883306622505188, -0.14095520973205566, 0.13179980218410492, -1.6145952939987183, 0.11234454810619354, 1.6489280462265015, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.890554666519165, -0.18673227727413177, 0.11654078215360641, 1.5897992849349976, -0.007057297509163618, -1.736285924911499, -0.0, 0.0, 0.8867399096488953, -0.12149996310472488, 0.09403372555971146, -1.6145952939987183, 0.04139009863138199, 1.6489280462265015, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8932250142097473, -0.17719538509845734, 0.10814831405878067, 1.589417815208435, -0.001716639962978661, -1.7381932735443115, -0.0, 0.0, 0.8867399096488953, -0.11196307092905045, 0.07305257022380829, -1.6145952939987183, -0.004386968910694122, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, -0.17261768877506256, 0.10471503436565399, 1.5890363454818726, -0.0013351644156500697, -1.740482211112976, -0.0, 0.0, 0.8806362748146057, -0.10662241280078888, 0.06237125024199486, -1.6145952939987183, -0.029182879254221916, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, -0.1684214472770691, 0.10204470902681351, 1.5890363454818726, -0.00019073777366429567, -1.740482211112976, -0.0, 0.0, 0.8665217161178589, -0.10128175467252731, 0.05741206929087639, -1.6145952939987183, -0.03643091395497322, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, -0.16155488789081573, 0.10013733059167862, 1.5890363454818726, -0.0024795911740511656, -1.739719271659851, -0.0, 0.0, 0.8566033244132996, -0.09861142933368683, 0.05054550990462303, -1.6145952939987183, -0.032616160809993744, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8943694233894348, -0.15621423721313477, 0.09708552807569504, 1.58865487575531, -0.00476844422519207, -1.7294193506240845, -0.0, 0.0, 0.8512626886367798, -0.10433356463909149, 0.034142062067985535, -1.6142138242721558, -0.039101243019104004, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8909361362457275, -0.15468832850456238, 0.09479667246341705, 1.5890363454818726, -0.00476844422519207, -1.7046234607696533, -0.0, 0.0, 0.848210871219635, -0.10967422276735306, 0.023079270496964455, -1.6138323545455933, -0.05664911866188049, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.881780743598938, -0.15545128285884857, 0.08869306743144989, 1.58865487575531, -0.002861066721379757, -1.6866941452026367, -0.0, 0.0, 0.8470664620399475, -0.11272602528333664, 0.016975661739706993, -1.6111619472503662, -0.06580453366041183, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8741512298583984, -0.16079194843769073, 0.07648584991693497, 1.5890363454818726, 0.0032425422687083483, -1.6824978590011597, -0.0, 0.0, 0.8463035225868225, -0.11387044936418533, 0.013923857361078262, -1.6111619472503662, -0.0715266615152359, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, -0.16193637251853943, 0.06351567804813385, 1.5890363454818726, 0.02040894143283367, -1.6824978590011597, -0.0, 0.0, 0.84592205286026, -0.11463340371847153, 0.012397955171763897, -1.6111619472503662, -0.07267109304666519, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8672846555709839, -0.16346226632595062, 0.0558861680328846, 1.5890363454818726, 0.029182879254221916, -1.6824978590011597, -0.0, 0.0, 0.84592205286026, -0.11501488089561462, 0.01125352829694748, -1.6111619472503662, -0.07495994865894318, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8665217161178589, -0.1676585078239441, 0.05245288833975792, 1.5890363454818726, 0.035667963325977325, -1.6824978590011597, -0.0, 0.0, 0.8455405235290527, -0.11501488089561462, 0.010872052982449532, -1.6115434169769287, -0.07648584991693497, 1.648546576499939, -8.75326368259266e-05, 8.75326368259266e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8657587766647339, -0.16918440163135529, 0.050164032727479935, 1.589417815208435, 0.039101243019104004, -1.6798275709152222, -0.0, 0.0, 0.8455405235290527, -0.11501488089561462, 0.010872052982449532, -1.6115434169769287, -0.07648584991693497, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8657587766647339, -0.16956588625907898, 0.048256658017635345, 1.5890363454818726, 0.04253452271223068, -1.6798275709152222, -0.0, 0.0, 0.8455405235290527, -0.11615930497646332, 0.010872052982449532, -1.6115434169769287, -0.07686731964349747, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.17147326469421387, 0.04749370738863945, 1.5890363454818726, 0.04329747334122658, -1.6794461011886597, -0.0, 0.0, 0.8455405235290527, -0.11615930497646332, 0.010872052982449532, -1.6115434169769287, -0.07724879682064056, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.17299915850162506, 0.04749370738863945, 1.5890363454818726, 0.04711223021149635, -1.6775387525558472, -0.0, 0.0, 0.8455405235290527, -0.11615930497646332, 0.010872052982449532, -1.6115434169769287, -0.07724879682064056, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.17681391537189484, 0.04749370738863945, 1.589417815208435, 0.05054550990462303, -1.6756312847137451, -0.0, 0.0, 0.8455405235290527, -0.11615930497646332, 0.010872052982449532, -1.6115434169769287, -0.07763027399778366, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.1825360506772995, 0.04749370738863945, 1.589417815208435, 0.05359731614589691, -1.6752498149871826, -0.0, 0.0, 0.8455405235290527, -0.11654078215360641, 0.010872052982449532, -1.6115434169769287, -0.07724879682064056, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.18520638346672058, 0.048638131469488144, 1.589417815208435, 0.05664911866188049, -1.6748683452606201, -0.0, 0.0, 0.8455405235290527, -0.11692225188016891, 0.010872052982449532, -1.6115434169769287, -0.07724879682064056, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.18673227727413177, 0.048638131469488144, 1.589417815208435, 0.05703059583902359, -1.6725795269012451, -0.0, 0.0, 0.8455405235290527, -0.11692225188016891, 0.010872052982449532, -1.6115434169769287, -0.07724879682064056, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.18711376190185547, 0.048638131469488144, 1.589417815208435, 0.057793546468019485, -1.6725795269012451, -0.0, 0.0, 0.8455405235290527, -0.11692225188016891, 0.010872052982449532, -1.6115434169769287, -0.07724879682064056, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.18787670135498047, 0.048638131469488144, 1.5890363454818726, 0.057793546468019485, -1.6725795269012451, -0.0, 0.0, 0.8455405235290527, -0.11692225188016891, 0.010872052982449532, -1.6115434169769287, -0.07724879682064056, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.18787670135498047, 0.048638131469488144, 1.589417815208435, 0.057793546468019485, -1.6725795269012451, -0.0, 0.0, 0.8455405235290527, -0.11692225188016891, 0.010872052982449532, -1.6115434169769287, -0.07763027399778366, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.18787670135498047, 0.048638131469488144, 1.5890363454818726, 0.058175019919872284, -1.6725795269012451, -0.0, 0.0, 0.8455405235290527, -0.11692225188016891, 0.010872052982449532, -1.6119248867034912, -0.07763027399778366, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.18787670135498047, 0.048638131469488144, 1.5890363454818726, 0.058175019919872284, -1.6725795269012451, -0.0, 0.0, 0.8455405235290527, -0.11654078215360641, 0.010490577667951584, -1.6119248867034912, -0.07763027399778366, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.18825818598270416, 0.04901960864663124, 1.5890363454818726, 0.058175019919872284, -1.6725795269012451, -0.0, 0.0, 0.8455405235290527, -0.10700388997793198, 0.005531395319849253, -1.6138323545455933, -0.08068207651376724, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.18825818598270416, 0.04901960864663124, 1.5890363454818726, 0.058175019919872284, -1.6725795269012451, -0.0, 0.0, 0.8455405235290527, -0.09365224838256836, -0.0024795911740511656, -1.6145952939987183, -0.0879301130771637, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.18825818598270416, 0.04901960864663124, 1.5890363454818726, 0.05855649709701538, -1.6725795269012451, -0.0, 0.0, 0.8455405235290527, -0.07495994865894318, -0.01201647985726595, -1.6145952939987183, -0.09594109654426575, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.18863965570926666, 0.04901960864663124, 1.5890363454818726, 0.05855649709701538, -1.6729609966278076, -0.0, 0.0, 0.8455405235290527, -0.06198977679014206, -0.019645990803837776, -1.6145952939987183, -0.1028076633810997, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19016556441783905, 0.04901960864663124, 1.5890363454818726, 0.05855649709701538, -1.6725795269012451, -0.0, 0.0, 0.8455405235290527, -0.0551232174038887, -0.023079270496964455, -1.6145952939987183, -0.10585946589708328, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19016556441783905, 0.04901960864663124, 1.5890363454818726, 0.05893797054886818, -1.6729609966278076, -0.0, 0.0, 0.8455405235290527, -0.05054550990462303, -0.024986648932099342, -1.6142138242721558, -0.10967422276735306, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19016556441783905, 0.04901960864663124, 1.5890363454818726, 0.05893797054886818, -1.6729609966278076, -0.0, 0.0, 0.8455405235290527, -0.04940108209848404, -0.026512550190091133, -1.6130692958831787, -0.10967422276735306, 1.648546576499939, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19016556441783905, 0.04940108209848404, 1.5890363454818726, 0.05893797054886818, -1.6729609966278076, -0.0, 0.0, 0.8455405235290527, -0.04901960864663124, -0.02689402550458908, -1.6100175380706787, -0.10967422276735306, 1.6481651067733765, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19054703414440155, 0.049782559275627136, 1.5890363454818726, 0.05893797054886818, -1.6729609966278076, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.02689402550458908, -1.6073472499847412, -0.11005569249391556, 1.647783637046814, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19054703414440155, 0.050164032727479935, 1.5890363454818726, 0.05893797054886818, -1.6733424663543701, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.026512550190091133, -1.6069657802581787, -0.10967422276735306, 1.647783637046814, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19054703414440155, 0.050164032727479935, 1.5890363454818726, 0.05893797054886818, -1.6733424663543701, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.02689402550458908, -1.6065843105316162, -0.10967422276735306, 1.647783637046814, -9.087968646781519e-05, 9.087968646781519e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19245441257953644, 0.050164032727479935, 1.5890363454818726, 0.05893797054886818, -1.6733424663543701, -0.0, 0.0, 0.8451590538024902, -0.04787518084049225, -0.02689402550458908, -1.6062028408050537, -0.10967422276735306, 1.647783637046814, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19245441257953644, 0.05054550990462303, 1.5890363454818726, 0.05893797054886818, -1.6733424663543701, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.02689402550458908, -1.6042953729629517, -0.10929274559020996, 1.647783637046814, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19245441257953644, 0.05054550990462303, 1.5890363454818726, 0.05893797054886818, -1.6733424663543701, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.02689402550458908, -1.6042953729629517, -0.10929274559020996, 1.647783637046814, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19245441257953644, 0.05054550990462303, 1.5890363454818726, 0.05893797054886818, -1.6733424663543701, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.026512550190091133, -1.6042953729629517, -0.10929274559020996, 1.647783637046814, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19245441257953644, 0.05054550990462303, 1.5890363454818726, 0.05893797054886818, -1.6733424663543701, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.02689402550458908, -1.6042953729629517, -0.10891126841306686, 1.647783637046814, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19245441257953644, 0.05054550990462303, 1.5890363454818726, 0.05893797054886818, -1.6733424663543701, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.026512550190091133, -1.6042953729629517, -0.10891126841306686, 1.647783637046814, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19245441257953644, 0.05054550990462303, 1.5890363454818726, 0.05893797054886818, -1.6733424663543701, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.026512550190091133, -1.6042953729629517, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19245441257953644, 0.05054550990462303, 1.5890363454818726, 0.05893797054886818, -1.6733424663543701, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.02689402550458908, -1.6042953729629517, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19359883666038513, 0.05054550990462303, 1.5890363454818726, 0.059319447726011276, -1.6733424663543701, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.02689402550458908, -1.6042953729629517, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.1958876997232437, 0.05092698708176613, 1.5890363454818726, 0.06504157930612564, -1.6737239360809326, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.026512550190091133, -1.6042953729629517, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.19474326074123383, 0.04596780240535736, 1.5890363454818726, 0.07610437273979187, -1.6737239360809326, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.02689402550458908, -1.6042953729629517, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.17566949129104614, 0.032616160809993744, 1.5890363454818726, 0.09594109654426575, -1.6737239360809326, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.14744029939174652, 0.014686808921396732, 1.5890363454818726, 0.11348897218704224, -1.6752498149871826, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.026512550190091133, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.1188296303153038, -0.0013351644156500697, 1.5890363454818726, 0.1337071806192398, -1.6756312847137451, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.1039520874619484, -0.010872052982449532, 1.5890363454818726, 0.14248111844062805, -1.6763943433761597, -0.0, 0.0, 0.8455405235290527, -0.04787518084049225, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8649957776069641, -0.09555962681770325, -0.012779430486261845, 1.5890363454818726, 0.14362554252147675, -1.6794461011886597, -0.0, 0.0, 0.8455405235290527, -0.048256658017635345, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.1039520874619484, -0.005531395319849253, 1.5890363454818726, 0.12836651504039764, -1.6794461011886597, -0.0, 0.0, 0.8455405235290527, -0.04901960864663124, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, -0.11348897218704224, 0.0013351644156500697, 1.5890363454818726, 0.11654078215360641, -1.6790646314620972, -0.0, 0.0, 0.8451590538024902, -0.04901960864663124, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.11768520623445511, 0.00476844422519207, 1.5890363454818726, 0.10967422276735306, -1.6783016920089722, -0.0, 0.0, 0.8455405235290527, -0.04901960864663124, -0.026512550190091133, -1.6050583124160767, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, -0.1180666834115982, 0.005912871100008488, 1.5890363454818726, 0.10852979123592377, -1.6756312847137451, -0.0, 0.0, 0.8451590538024902, -0.04901960864663124, -0.02689402550458908, -1.6054397821426392, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, -0.1199740618467331, 0.006294346414506435, 1.5890363454818726, 0.10471503436565399, -1.6752498149871826, -0.0, 0.0, 0.8451590538024902, -0.04901960864663124, -0.02689402550458908, -1.6062028408050537, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.12264438718557358, 0.007057297509163618, 1.5890363454818726, 0.10433356463909149, -1.6733424663543701, -0.0, 0.0, 0.8455405235290527, -0.04901960864663124, -0.02689402550458908, -1.6062028408050537, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, -0.12302586436271667, 0.0078202486038208, 1.5890363454818726, 0.1035706102848053, -1.6721980571746826, -0.0, 0.0, 0.8455405235290527, -0.04901960864663124, -0.02689402550458908, -1.6062028408050537, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.1035706102848053, -1.6721980571746826, -0.0, 0.0, 0.8455405235290527, -0.04901960864663124, -0.02689402550458908, -1.6062028408050537, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.1039520874619484, -1.6721980571746826, -0.0, 0.0, 0.8455405235290527, -0.04901960864663124, -0.02689402550458908, -1.6062028408050537, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10433356463909149, -1.6721980571746826, -0.0, 0.0, 0.8455405235290527, -0.04901960864663124, -0.02689402550458908, -1.6058213710784912, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10433356463909149, -1.6721980571746826, -0.0, 0.0, 0.8455405235290527, -0.04901960864663124, -0.02689402550458908, -1.6054397821426392, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10471503436565399, -1.6721980571746826, -0.0, 0.0, 0.8455405235290527, -0.04901960864663124, -0.026512550190091133, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10471503436565399, -1.6721980571746826, -0.0, 0.0, 0.8451590538024902, -0.04901960864663124, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.758010128280148e-05, 9.758010128280148e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10471503436565399, -1.6721980571746826, -0.0, 0.0, 0.8455405235290527, -0.04901960864663124, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10471503436565399, -1.6721980571746826, -0.0, 0.0, 0.8455405235290527, -0.04940108209848404, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10471503436565399, -1.6721980571746826, -0.0, 0.0, 0.8455405235290527, -0.049782559275627136, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10471503436565399, -1.6721980571746826, -0.0, 0.0, 0.8451590538024902, -0.049782559275627136, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10471503436565399, -1.6721980571746826, -0.0, 0.0, 0.8455405235290527, -0.049782559275627136, -0.026512550190091133, -1.6046768426895142, -0.10852979123592377, 1.648546576499939, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10471503436565399, -1.6721980571746826, -0.0, 0.0, 0.8451590538024902, -0.049782559275627136, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10471503436565399, -1.6721980571746826, -0.0, 0.0, 0.8455405235290527, -0.049782559275627136, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10471503436565399, -1.6721980571746826, -0.0, 0.0, 0.8451590538024902, -0.049782559275627136, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.12264438718557358, 0.0078202486038208, 1.5890363454818726, 0.10471503436565399, -1.6721980571746826, -0.0, 0.0, 0.8451590538024902, -0.049782559275627136, -0.02689402550458908, -1.6046768426895142, -0.10852979123592377, 1.6481651067733765, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000025/meta.json b/rc-table30-v2__rc-dos-w1/000025/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d792285d58594ac30ffc851ea1ca32fcb16ffc83
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000025/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Tie a knot with the string on the table.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 8075,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000025/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000025/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8894bda57bcee7e3eb4ab74671c72b8fede6570d
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000025/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000025/temporal.json b/rc-table30-v2__rc-dos-w1/000025/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..4393050d8efc7d98888a89590d7c3bdcfcb8347b
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000025/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.4948118925094604, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6264209747314453, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6268024444580078, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6268024444580078, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6271839141845703, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.4948118925094604, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6271839141845703, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6302357912063599, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9287022352218628, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6302357912063599, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6302357912063599, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6302357912063599, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6298543214797974, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6298543214797974, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6298543214797974, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6290913820266724, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6264209747314453, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.4948118925094604, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6264209747314453, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6264209747314453, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.4948118925094604, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6268024444580078, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.4948118925094604, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6268024444580078, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.4948118925094604, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13103684782981873, 1.6275653839111328, -0.00030602276092395186, 0.00030602276092395186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13065537810325623, 1.6302357912063599, -0.01973692886531353, 0.01973692886531353], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8268482685089111, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.13027389347553253, 1.6302357912063599, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5642404556274414, 0.1493476778268814, -1.494430422782898, -0.0, 0.0, 0.8272297382354736, 0.12340734153985977, -0.07038223743438721, -1.5497443675994873, -0.12912946939468384, 1.6298543214797974, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.568055272102356, 0.1493476778268814, -1.4940489530563354, -0.00011436806380515918, 0.00011436806380515918, 0.8279926776885986, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12874799966812134, 1.6298543214797974, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.571107029914856, 0.1489662081003189, -1.4940489530563354, -0.013537386432290077, 0.013537386432290077, 0.8279926776885986, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12874799966812134, 1.6294728517532349, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.571107029914856, 0.14858472347259521, -1.4967193603515625, -0.034, 0.034, 0.8279926776885986, 0.12340734153985977, -0.07038223743438721, -1.5497443675994873, -0.12874799966812134, 1.6294728517532349, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5714884996414185, 0.14782176911830902, -1.496337890625, -0.034, 0.034, 0.8279926776885986, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12874799966812134, 1.6294728517532349, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06466010212898254, 1.5714884996414185, 0.14705882966518402, -1.496337890625, -0.034, 0.034, 0.8287556171417236, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12912946939468384, 1.6294728517532349, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9287022352218628, 0.0558861680328846, -0.06427863240242004, 1.571107029914856, 0.14705882966518402, -1.496337890625, -0.034, 0.034, 0.8287556171417236, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12874799966812134, 1.6298543214797974, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9283207654953003, 0.0558861680328846, -0.06427863240242004, 1.563858985900879, 0.14667734503746033, -1.495956301689148, -0.034, 0.034, 0.8287556171417236, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12874799966812134, 1.6298543214797974, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9260318875312805, 0.0558861680328846, -0.06427863240242004, 1.5516518354415894, 0.14667734503746033, -1.496337890625, -0.034, 0.034, 0.8283741474151611, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12912946939468384, 1.6298543214797974, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, 0.0558861680328846, -0.06427863240242004, 1.5363928079605103, 0.14667734503746033, -1.496337890625, -0.034, 0.034, 0.8283741474151611, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12874799966812134, 1.6298543214797974, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9084840416908264, 0.0558861680328846, -0.06427863240242004, 1.5230411291122437, 0.14667734503746033, -1.496337890625, -0.034, 0.034, 0.8287556171417236, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12912946939468384, 1.6298543214797974, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9000915288925171, 0.0558861680328846, -0.06389715522527695, 1.509689450263977, 0.14667734503746033, -1.4967193603515625, -0.034, 0.034, 0.8287556171417236, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12912946939468384, 1.6298543214797974, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, 0.0558861680328846, -0.06389715522527695, 1.5028228759765625, 0.14667734503746033, -1.4967193603515625, -0.034, 0.034, 0.8287556171417236, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12912946939468384, 1.6298543214797974, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8943694233894348, 0.0558861680328846, -0.06389715522527695, 1.4997711181640625, 0.14667734503746033, -1.496337890625, -0.034, 0.034, 0.8287556171417236, 0.12302586436271667, -0.07038223743438721, -1.5493628978729248, -0.12912946939468384, 1.6298543214797974, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.0558861680328846, -0.06389715522527695, 1.495956301689148, 0.14667734503746033, -1.496337890625, -0.034, 0.034, 0.8287556171417236, 0.12340734153985977, -0.07038223743438721, -1.5493628978729248, -0.12912946939468384, 1.6298543214797974, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.0558861680328846, -0.06351567804813385, 1.4982452392578125, 0.14667734503746033, -1.496337890625, -0.034, 0.034, 0.8264667987823486, 0.12340734153985977, -0.06771191209554672, -1.5493628978729248, -0.12912946939468384, 1.6313802003860474, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8932250142097473, 0.0558861680328846, -0.06351567804813385, 1.5115967988967896, 0.14629587531089783, -1.496337890625, -0.034, 0.034, 0.8146410584449768, 0.12455176562070847, -0.03604944050312042, -1.5493628978729248, -0.12912946939468384, 1.6664758920669556, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, 0.0558861680328846, -0.06313420087099075, 1.519226312637329, 0.14553292095661163, -1.4967193603515625, -0.034, 0.034, 0.7864118218421936, 0.12417028844356537, 0.01430533267557621, -1.5493628978729248, -0.12798504531383514, 1.7286564111709595, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, 0.0558861680328846, -0.06237125024199486, 1.519226312637329, 0.14515145123004913, -1.496337890625, -0.034, 0.034, 0.7337682247161865, 0.12455176562070847, 0.07419699430465698, -1.5493628978729248, -0.059319447726011276, 1.8320363759994507, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, 0.0555046908557415, -0.06237125024199486, 1.5188448429107666, 0.14324407279491425, -1.496337890625, -0.034, 0.034, 0.6822690367698669, 0.12417028844356537, 0.13103684782981873, -1.5489814281463623, 0.07877469807863235, 1.9201571941375732, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, 0.0555046908557415, -0.06237125024199486, 1.5188448429107666, 0.14362554252147675, -1.4967193603515625, -0.034, 0.034, 0.650225043296814, 0.12378881871700287, 0.17109178006649017, -1.5493628978729248, 0.21076524257659912, 1.97661554813385, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, 0.0555046908557415, -0.06237125024199486, 1.518463373184204, 0.14362554252147675, -1.4967193603515625, -0.034, 0.034, 0.615129292011261, 0.12302586436271667, 0.19550621509552002, -1.5489814281463623, 0.2958342730998993, 2.012474298477173, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8993285894393921, 0.0555046908557415, -0.06237125024199486, 1.5135042667388916, 0.14362554252147675, -1.4967193603515625, -0.034, 0.034, 0.5563820600509644, 0.11081864684820175, 0.20885786414146423, -1.5489814281463623, 0.3408484160900116, 2.0349812507629395, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8993285894393921, 0.0555046908557415, -0.06237125024199486, 1.5070191621780396, 0.14400701224803925, -1.4967193603515625, -0.034, 0.034, 0.5045014023780823, 0.06389715522527695, 0.22678720951080322, -1.5493628978729248, 0.36793315410614014, 2.047569990158081, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8970397710800171, 0.0555046908557415, -0.06237125024199486, 1.5028228759765625, 0.14515145123004913, -1.4967193603515625, -0.034, 0.034, 0.47665369510650635, -0.054741740226745605, 0.2790493667125702, -1.5489814281463623, 0.3873884081840515, 2.052910566329956, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, 0.0555046908557415, -0.06237125024199486, 1.4997711181640625, 0.14515145123004913, -1.4967193603515625, -0.034, 0.034, 0.45948728919029236, -0.23594263195991516, 0.3747997283935547, -1.5489814281463623, 0.421339750289917, 2.0243000984191895, -0.032758861780166626, 0.032758861780166626], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, 0.0555046908557415, -0.06237125024199486, 1.496337890625, 0.14515145123004913, -1.4967193603515625, -0.034, 0.034, 0.44460976123809814, -0.4518577754497528, 0.5041199326515198, -1.5489814281463623, 0.4999237060546875, 1.9712748527526855, -0.031633950769901276, 0.031633950769901276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, 0.0555046908557415, -0.06237125024199486, 1.492141604423523, 0.14515145123004913, -1.4967193603515625, -0.034, 0.034, 0.4339284300804138, -0.6929503083229065, 0.6704432964324951, -1.5493628978729248, 0.6319142580032349, 1.8709467649459839, -0.031633950769901276, 0.031633950769901276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, 0.0555046908557415, -0.06237125024199486, 1.492141604423523, 0.14515145123004913, -1.4967193603515625, -0.034, 0.034, 0.43011367321014404, -0.9077210426330566, 0.8340963125228882, -1.5493628978729248, 0.7871748208999634, 1.7504005432128906, -0.031625423580408096, 0.031625423580408096], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8947508931159973, 0.0555046908557415, -0.06237125024199486, 1.491378664970398, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.42896926403045654, -1.0877774953842163, 0.9866865277290344, -1.5489814281463623, 0.9431982636451721, 1.6329060792922974, -0.03004833683371544, 0.03004833683371544], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.892080545425415, 0.0551232174038887, -0.06237125024199486, 1.487945318222046, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.42515450716018677, -1.2232013940811157, 1.1095216274261475, -1.5489814281463623, 1.0782406330108643, 1.5306706428527832, -0.029886288568377495, 0.029886288568377495], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8916990756988525, 0.0551232174038887, -0.06275273114442825, 1.484893560409546, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.4186694025993347, -1.3143739700317383, 1.19153892993927, -1.5489814281463623, 1.1671243906021118, 1.4444571733474731, -0.029850177466869354, 0.029850177466869354], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8886472582817078, 0.0551232174038887, -0.06237125024199486, 1.4845120906829834, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.41638055443763733, -1.3780803680419922, 1.2380788326263428, -1.5489814281463623, 1.2209124565124512, 1.358243703842163, -0.028415454551577568, 0.028415454551577568], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8882657885551453, 0.0551232174038887, -0.06237125024199486, 1.484130620956421, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.422102689743042, -1.4246203899383545, 1.2602044343948364, -1.5485999584197998, 1.267071008682251, 1.2716487646102905, -0.028359316289424896, 0.028359316289424896], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8875028491020203, 0.0551232174038887, -0.06237125024199486, 1.481078863143921, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.42744335532188416, -1.4597162008285522, 1.268596887588501, -1.5466926097869873, 1.3036926984786987, 1.190394401550293, -0.027194807305932045, 0.027194807305932045], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8852140307426453, 0.0551232174038887, -0.06237125024199486, 1.4803158044815063, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.42782482504844666, -1.485656499862671, 1.273556113243103, -1.5451667308807373, 1.3143739700317383, 1.1331731081008911, -0.026056360453367233, 0.026056360453367233], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8852140307426453, 0.0551232174038887, -0.06237125024199486, 1.4768825769424438, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.42591744661331177, -1.5070191621780396, 1.2754634618759155, -1.5451667308807373, 1.3139925003051758, 1.0950255393981934, -0.024141617119312286, 0.024141617119312286], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4768825769424438, 0.14476996660232544, -1.496337890625, -0.034, 0.034, 0.4217212200164795, -1.5249484777450562, 1.2769893407821655, -1.5447852611541748, 1.3010224103927612, 1.0732814073562622, -0.022452402859926224, 0.022452402859926224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4768825769424438, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.41218432784080505, -1.5421148538589478, 1.2773709297180176, -1.5447852611541748, 1.2827115058898926, 1.0629816055297852, -0.02170504443347454, 0.02170504443347454], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4765011072158813, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.4045548141002655, -1.5569924116134644, 1.2773709297180176, -1.5447852611541748, 1.264782190322876, 1.0530632734298706, -0.020381417125463486, 0.020381417125463486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4761196374893188, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.39730677008628845, -1.567292332649231, 1.2773709297180176, -1.5447852611541748, 1.2453268766403198, 1.0450522899627686, -0.019588539376854897, 0.019588539376854897], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4738308191299438, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.3923476040363312, -1.576066255569458, 1.2773709297180176, -1.5447852611541748, 1.2285419702529907, 1.045433759689331, -0.01844659075140953, 0.01844659075140953], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4738308191299438, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.3889143168926239, -1.584840178489685, 1.2773709297180176, -1.5444037914276123, 1.2136644124984741, 1.0408560037612915, -0.018289992585778236, 0.018289992585778236], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4738308191299438, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.386243999004364, -1.5924696922302246, 1.2773709297180176, -1.5444037914276123, 1.2079423666000366, 1.038185715675354, -0.018006816506385803, 0.018006816506385803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4742122888565063, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.3847180902957916, -1.5985733270645142, 1.2773709297180176, -1.5444037914276123, 1.2029831409454346, 1.038185715675354, -0.015920298174023628, 0.015920298174023628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4738308191299438, 0.14476996660232544, -1.496337890625, -0.034, 0.034, 0.3843366205692291, -1.6039139032363892, 1.27775239944458, -1.5444037914276123, 1.1957350969314575, 1.038185715675354, -0.01570308580994606, 0.01570308580994606], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4738308191299438, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.3847180902957916, -1.6088731288909912, 1.2773709297180176, -1.5436408519744873, 1.189631462097168, 1.038185715675354, -0.012904606759548187, 0.012904606759548187], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4734493494033813, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.3847180902957916, -1.6119248867034912, 1.27775239944458, -1.5436408519744873, 1.1884870529174805, 1.038185715675354, -0.012579213827848434, 0.012579213827848434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4730678796768188, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.3847180902957916, -1.6145952939987183, 1.27775239944458, -1.5436408519744873, 1.1869611740112305, 1.038185715675354, -0.010620564222335815, 0.010620564222335815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.0551232174038887, -0.06237125024199486, 1.4726864099502563, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.3843366205692291, -1.6168841123580933, 1.27775239944458, -1.5436408519744873, 1.1854352951049805, 1.038185715675354, -0.008662157692015171, 0.008662157692015171], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8844510316848755, 0.0551232174038887, -0.06237125024199486, 1.4723048210144043, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.3847180902957916, -1.6180285215377808, 1.27775239944458, -1.5405889749526978, 1.185053825378418, 1.0385671854019165, -0.0020937591325491667, 0.0020937591325491667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8844510316848755, 0.0551232174038887, -0.06237125024199486, 1.4696345329284668, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.3843366205692291, -1.6187914609909058, 1.27775239944458, -1.5409704446792603, 1.185053825378418, 1.0385671854019165, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.884069561958313, 0.0551232174038887, -0.06237125024199486, 1.4696345329284668, 0.14476996660232544, -1.4967193603515625, -0.034, 0.034, 0.3847180902957916, -1.6187914609909058, 1.27775239944458, -1.5409704446792603, 1.1884870529174805, 1.039711594581604, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8821622133255005, 0.0551232174038887, -0.06237125024199486, 1.4696345329284668, 0.14515145123004913, -1.4967193603515625, -0.034, 0.034, 0.38242924213409424, -1.6126878261566162, 1.27775239944458, -1.5417333841323853, 1.2148088216781616, 1.0591669082641602, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.881017804145813, 0.0551232174038887, -0.06237125024199486, 1.4700160026550293, 0.14591439068317413, -1.4967193603515625, -0.034, 0.034, 0.37899595499038696, -1.593614101409912, 1.27775239944458, -1.5436408519744873, 1.2300678491592407, 1.1072328090667725, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8806362748146057, 0.0551232174038887, -0.06237125024199486, 1.4696345329284668, 0.14667734503746033, -1.4967193603515625, -0.034, 0.034, 0.3717479109764099, -1.565384864807129, 1.2754634618759155, -1.5447852611541748, 1.2449454069137573, 1.1861982345581055, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8806362748146057, 0.0551232174038887, -0.06237125024199486, 1.4696345329284668, 0.14782176911830902, -1.4967193603515625, -0.034, 0.034, 0.3595407009124756, -1.5226596593856812, 1.2518119812011719, -1.5447852611541748, 1.2556267976760864, 1.2819485664367676, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8791103959083557, 0.05436026677489281, -0.06237125024199486, 1.4639123678207397, 0.1493476778268814, -1.4967193603515625, -0.034, 0.034, 0.3419928252696991, -1.4642938375473022, 1.19459068775177, -1.5440223217010498, 1.2361714839935303, 1.3792248964309692, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8726252913475037, 0.05092698708176613, -0.05436026677489281, 1.4570459127426147, 0.14286258816719055, -1.4967193603515625, -0.034, 0.034, 0.3236820101737976, -1.4173723459243774, 1.1289769411087036, -1.5447852611541748, 1.203364610671997, 1.4600976705551147, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8558403849601746, 0.04444190114736557, -0.009346150793135166, 1.4551384449005127, 0.11539635062217712, -1.4967193603515625, -0.034, 0.034, 0.31681543588638306, -1.3887617588043213, 1.0728999376296997, -1.5444037914276123, 1.1804760694503784, 1.515411615371704, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, 0.0013351644156500697, 0.07801175117492676, 1.4642938375473022, 0.0555046908557415, -1.4967193603515625, -0.034, 0.034, 0.31414511799812317, -1.3715953826904297, 1.0320820808410645, -1.5405889749526978, 1.1583504676818848, 1.5573738813400269, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7463569045066833, -0.1024261862039566, 0.18863965570926666, 1.483367681503296, -0.03032730519771576, -1.4967193603515625, -0.034, 0.034, 0.31490805745124817, -1.3624398708343506, 1.0103379487991333, -1.5417333841323853, 1.1476691961288452, 1.581406831741333, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.650225043296814, -0.2973601818084717, 0.343900203704834, 1.500152587890625, -0.17757686972618103, -1.496337890625, -0.034, 0.034, 0.3229190409183502, -1.356717824935913, 0.9985122680664062, -1.5409704446792603, 1.1446174383163452, 1.594377040863037, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5609598159790039, -0.5445563197135925, 0.5300602912902832, 1.4993896484375, -0.3614480793476105, -1.4822232723236084, -0.03089965134859085, 0.03089965134859085, 0.33131152391433716, -1.352521538734436, 0.9916456937789917, -1.5409704446792603, 1.1552987098693848, 1.6012436151504517, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4968718886375427, -0.80510413646698, 0.7211795449256897, 1.4612420797348022, -0.5701152086257935, -1.4013503789901733, -0.030917145311832428, 0.030917145311832428, 0.3412298858165741, -1.3498512506484985, 0.9882124066352844, -1.5405889749526978, 1.1671243906021118, 1.6054397821426392, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4556725323200226, -1.0225452184677124, 0.8829251527786255, 1.4101243019104004, -0.7310978770256042, -1.2953002452850342, -0.029940389096736908, 0.029940389096736908, 0.34771496057510376, -1.347562313079834, 0.9859235286712646, -1.5352483987808228, 1.1739909648895264, 1.6027694940567017, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4358358085155487, -1.1884870529174805, 1.0027084350585938, 1.3555734157562256, -0.838674008846283, -1.1610208749771118, -0.029859209433197975, 0.029859209433197975, 0.33436331152915955, -1.3433661460876465, 0.9840161800384521, -1.486419439315796, 1.180857539176941, 1.5684367418289185, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42935073375701904, -1.3044556379318237, 1.0755703449249268, 1.3120851516723633, -0.9042877554893494, -0.9988937377929688, -0.029859209433197975, 0.029859209433197975, 0.3072785437107086, -1.339551329612732, 0.9813458323478699, -1.3918135166168213, 1.183146357536316, 1.5127413272857666, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4236285984516144, -1.3788433074951172, 1.1102845668792725, 1.2857633829116821, -0.9340428709983826, -0.8478294014930725, -0.029859209433197975, 0.029859209433197975, 0.2904936373233795, -1.3376439809799194, 0.9802014231681824, -1.3281071186065674, 1.188105583190918, 1.4734493494033813, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4182879328727722, -1.4303425550460815, 1.1278324127197266, 1.281567096710205, -0.9443427324295044, -0.7394903302192688, -0.02973257005214691, 0.02973257005214691, 0.2779049277305603, -1.3361181020736694, 0.9782940149307251, -1.2922483682632446, 1.189631462097168, 1.4459830522537231, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41523614525794983, -1.4589532613754272, 1.1247806549072266, 1.2853819131851196, -0.9344243407249451, -0.6616693139076233, -0.028602106496691704, 0.028602106496691704, 0.2733272314071655, -1.334210753440857, 0.9775310754776001, -1.2731746435165405, 1.1892499923706055, 1.429961085319519, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.40989547967910767, -1.4749752283096313, 1.109140157699585, 1.2895780801773071, -0.9042877554893494, -0.6036850810050964, -0.026983996853232384, 0.026983996853232384, 0.2752346098423004, -1.3330663442611694, 0.9771496057510376, -1.256771206855774, 1.190394401550293, 1.4185168743133545, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39501792192459106, -1.4845120906829834, 1.098840355873108, 1.281567096710205, -0.8726252913475037, -0.5510414242744446, -0.0244975034147501, 0.0244975034147501, 0.2794308364391327, -1.3319218158721924, 0.9763866662979126, -1.2518119812011719, 1.1907758712768555, 1.4101243019104004, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3904402256011963, -1.4917601346969604, 1.0915923118591309, 1.264782190322876, -0.8527885675430298, -0.5094605684280396, -0.021625330671668053, 0.021625330671668053, 0.28515297174453735, -1.3319218158721924, 0.9760051965713501, -1.2460898160934448, 1.1919203996658325, 1.4017318487167358, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.38319218158721924, -1.4993896484375, 1.0881589651107788, 1.259060025215149, -0.840962827205658, -0.4819943606853485, -0.018770327791571617, 0.018770327791571617, 0.28553444147109985, -1.3311588764190674, 0.9756237268447876, -1.2445639371871948, 1.1926833391189575, 1.3937208652496338, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3717479109764099, -1.505874752998352, 1.0870145559310913, 1.2518119812011719, -0.8325703740119934, -0.46253910660743713, -0.017714813351631165, 0.017714813351631165, 0.28553444147109985, -1.3300144672393799, 0.9756237268447876, -1.2441824674606323, 1.1926833391189575, 1.3853284120559692, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36717021465301514, -1.510452389717102, 1.0870145559310913, 1.2392233610153198, -0.8302815556526184, -0.44651713967323303, -0.017637116834521294, 0.017637116834521294, 0.28591591119766235, -1.3300144672393799, 0.9752422571182251, -1.2434195280075073, 1.1926833391189575, 1.3811322450637817, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3603036403656006, -1.514648675918579, 1.0870145559310913, 1.2365529537200928, -0.8310444951057434, -0.440032035112381, -0.01762741059064865, 0.01762741059064865, 0.28667888045310974, -1.3300144672393799, 0.9748607873916626, -1.2434195280075073, 1.1926833391189575, 1.3780803680419922, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3564889132976532, -1.518463373184204, 1.0877774953842163, 1.2312123775482178, -0.8356221914291382, -0.4335469603538513, -0.015825754031538963, 0.015825754031538963, 0.28858625888824463, -1.3300144672393799, 0.9748607873916626, -1.2407492399215698, 1.192301869392395, 1.3750286102294922, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3530556261539459, -1.5222781896591187, 1.0919737815856934, 1.2209124565124512, -0.8390554785728455, -0.43202105164527893, -0.014621195383369923, 0.014621195383369923, 0.28934919834136963, -1.3296329975128174, 0.9748607873916626, -1.2407492399215698, 1.192301869392395, 1.3738842010498047, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34962233901023865, -1.5272372961044312, 1.0950255393981934, 1.2186236381530762, -0.8455405235290527, -0.42858776450157166, -0.013943922705948353, 0.013943922705948353, 0.2935454249382019, -1.3296329975128174, 0.9748607873916626, -1.2407492399215698, 1.192301869392395, 1.3712139129638672, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.35076677799224854, -1.5344853401184082, 1.098840355873108, 1.2132829427719116, -0.8539330363273621, -0.42820629477500916, -0.013654403388500214, 0.013654403388500214, 0.29926756024360657, -1.3296329975128174, 0.9748607873916626, -1.2411307096481323, 1.192301869392395, 1.3712139129638672, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.35000380873680115, -1.5421148538589478, 1.101892113685608, 1.2106126546859741, -0.8619440197944641, -0.42515450716018677, -0.01163890864700079, 0.01163890864700079, 0.30346378684043884, -1.3296329975128174, 0.9748607873916626, -1.2415121793746948, 1.1919203996658325, 1.3712139129638672, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34962233901023865, -1.5470740795135498, 1.1037994623184204, 1.2060348987579346, -0.8718623518943787, -0.42553597688674927, -0.009616700001060963, 0.009616700001060963, 0.3076600432395935, -1.3292515277862549, 0.9748607873916626, -1.2411307096481323, 1.1919203996658325, 1.3712139129638672, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.35000380873680115, -1.5505073070526123, 1.104943871498108, 1.2022202014923096, -0.8779659867286682, -0.42553597688674927, -0.006516378838568926, 0.006516378838568926, 0.3103303611278534, -1.3288700580596924, 0.9748607873916626, -1.2418936491012573, 1.1919203996658325, 1.3719768524169922, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34962233901023865, -1.5516518354415894, 1.106088399887085, 1.2022202014923096, -0.8798733353614807, -0.42553597688674927, -0.0012702341191470623, 0.0012702341191470623, 0.31414511799812317, -1.3288700580596924, 0.9748607873916626, -1.2415121793746948, 1.1919203996658325, 1.3719768524169922, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34962233901023865, -1.5527962446212769, 1.11142897605896, 1.203364610671997, -0.8878843188285828, -0.43049514293670654, -8.75326368259266e-05, 8.75326368259266e-05, 0.31757840514183044, -1.3281071186065674, 0.9748607873916626, -1.2411307096481323, 1.1919203996658325, 1.3750286102294922, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.35000380873680115, -1.5527962446212769, 1.123636245727539, 1.2087053060531616, -0.9073395729064941, -0.44537270069122314, -8.75326368259266e-05, 8.75326368259266e-05, 0.31795987486839294, -1.3250553607940674, 0.9744792580604553, -1.2415121793746948, 1.1919203996658325, 1.3754100799560547, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.35000380873680115, -1.5451667308807373, 1.1369879245758057, 1.2144273519515991, -0.9359502792358398, -0.4659723937511444, -8.75326368259266e-05, 8.75326368259266e-05, 0.31910428404808044, -1.3166629076004028, 0.9744792580604553, -1.2418936491012573, 1.1919203996658325, 1.3757915496826172, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34657052159309387, -1.5218967199325562, 1.1434729099273682, 1.2178606986999512, -0.9573128819465637, -0.4858091175556183, -8.75326368259266e-05, 8.75326368259266e-05, 0.31757840514183044, -1.2987334728240967, 0.9744792580604553, -1.2411307096481323, 1.1919203996658325, 1.3784618377685547, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3393225073814392, -1.484893560409546, 1.1472877264022827, 1.2170977592468262, -0.9699015617370605, -0.5045014023780823, -8.75326368259266e-05, 8.75326368259266e-05, 0.30270084738731384, -1.271267294883728, 0.9775310754776001, -1.2415121793746948, 1.1919203996658325, 1.3784618377685547, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33207446336746216, -1.437972068786621, 1.1511024236679077, 1.2144273519515991, -0.9729533791542053, -0.5235751867294312, -8.75326368259266e-05, 8.75326368259266e-05, 0.2786678969860077, -1.2388418912887573, 0.9893568158149719, -1.2422751188278198, 1.192301869392395, 1.3784618377685547, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3274967670440674, -1.3834210634231567, 1.1522468328475952, 1.2075608968734741, -0.959220290184021, -0.5514228940010071, -8.75326368259266e-05, 8.75326368259266e-05, 0.25501641631126404, -1.2102311849594116, 1.0183489322662354, -1.2426565885543823, 1.1926833391189575, 1.3784618377685547, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.32063019275665283, -1.3212405443191528, 1.1419470310211182, 1.1907758712768555, -0.9153505563735962, -0.5903334021568298, -8.75326368259266e-05, 8.75326368259266e-05, 0.24090181291103363, -1.19153892993927, 1.0629816055297852, -1.2438009977340698, 1.1926833391189575, 1.3769359588623047, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3118562698364258, -1.2525749206542969, 1.116388201713562, 1.1446174383163452, -0.8352407217025757, -0.6284809708595276, -8.75326368259266e-05, 8.75326368259266e-05, 0.23250934481620789, -1.181620478630066, 1.113336443901062, -1.2407492399215698, 1.1919203996658325, 1.3666361570358276, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2912565767765045, -1.1972609758377075, 1.0893033742904663, 1.0656518936157227, -0.7455939650535583, -0.650225043296814, -8.75326368259266e-05, 8.75326368259266e-05, 0.22678720951080322, -1.1766613721847534, 1.1530098915100098, -1.2411307096481323, 1.1724650859832764, 1.3521400690078735, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.26798656582832336, -1.1675058603286743, 1.0721369981765747, 0.9817273020744324, -0.6677729487419128, -0.6628137826919556, -8.75326368259266e-05, 8.75326368259266e-05, 0.22182802855968475, -1.1736094951629639, 1.1755168437957764, -1.2411307096481323, 1.1190584897994995, 1.3403143882751465, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2443350851535797, -1.1537728309631348, 1.0667964220046997, 0.8916990756988525, -0.572022557258606, -0.6719691753387451, -8.75326368259266e-05, 8.75326368259266e-05, 0.2145799994468689, -1.1728465557098389, 1.1877241134643555, -1.2411307096481323, 1.0187304019927979, 1.333447813987732, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22106507420539856, -1.1564431190490723, 1.0866330862045288, 0.8005264401435852, -0.47856107354164124, -0.6780728101730347, -8.75326368259266e-05, 8.75326368259266e-05, 0.20962081849575043, -1.1720836162567139, 1.19459068775177, -1.2415121793746948, 0.8699550032615662, 1.3292515277862549, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20389868319034576, -1.1747539043426514, 1.126688003540039, 0.7192721366882324, -0.39539939165115356, -0.6811245679855347, -8.75326368259266e-05, 8.75326368259266e-05, 0.20923933386802673, -1.1717021465301514, 1.19764244556427, -1.2411307096481323, 0.6795986890792847, 1.3258183002471924, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1966506391763687, -1.2029831409454346, 1.1789501905441284, 0.6593804955482483, -0.3248264193534851, -0.6826505064964294, -8.75326368259266e-05, 8.75326368259266e-05, 0.21648737788200378, -1.1743724346160889, 1.1999313831329346, -1.2403677701950073, 0.47779813408851624, 1.3185702562332153, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19169145822525024, -1.2361714839935303, 1.2304493188858032, 0.6116960644721985, -0.27065691351890564, -0.6845578551292419, -8.75326368259266e-05, 8.75326368259266e-05, 0.22373540699481964, -1.1869611740112305, 1.206416368484497, -1.2407492399215698, 0.2790493667125702, 1.3101778030395508, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18940261006355286, -1.265545129776001, 1.272793173789978, 0.5605783462524414, -0.2157244235277176, -0.6845578551292419, -8.75326368259266e-05, 8.75326368259266e-05, 0.22297245264053345, -1.2079423666000366, 1.2270160913467407, -1.2403677701950073, 0.13027389347553253, 1.3075073957443237, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1825360506772995, -1.2930114269256592, 1.3048371076583862, 0.5140383243560791, -0.1813916265964508, -0.6845578551292419, -8.75326368259266e-05, 8.75326368259266e-05, 0.21801327168941498, -1.2331197261810303, 1.2502861022949219, -1.2403677701950073, 0.04596780240535736, 1.3036926984786987, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17528800666332245, -1.3094148635864258, 1.3117036819458008, 0.4842832088470459, -0.164988175034523, -0.6849393248558044, -8.75326368259266e-05, 8.75326368259266e-05, 0.21763180196285248, -1.2521934509277344, 1.261348843574524, -1.2403677701950073, -0.000572213320992887, 1.3033112287521362, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1657511293888092, -1.3174258470535278, 1.284618854522705, 0.4736018776893616, -0.17910276353359222, -0.6853207945823669, -8.75326368259266e-05, 8.75326368259266e-05, 0.21725031733512878, -1.266308069229126, 1.254482388496399, -1.2403677701950073, 0.008964675478637218, 1.3002593517303467, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14591439068317413, -1.3124666213989258, 1.2212939262390137, 0.4865720570087433, -0.22449836134910583, -0.7173647880554199, -8.75326368259266e-05, 8.75326368259266e-05, 0.21648737788200378, -1.2708858251571655, 1.2132829427719116, -1.2407492399215698, 0.06198977679014206, 1.3002593517303467, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12378881871700287, -1.2689783573150635, 1.125162124633789, 0.4983977973461151, -0.2573052644729614, -0.7612344622612, -8.75326368259266e-05, 8.75326368259266e-05, 0.22068360447883606, -1.2430380582809448, 1.1354619264602661, -1.2407492399215698, 0.09441519528627396, 1.3002593517303467, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10929274559020996, -1.19611656665802, 1.0183489322662354, 0.5125123858451843, -0.2821011543273926, -0.7867932915687561, -8.75326368259266e-05, 8.75326368259266e-05, 0.22449836134910583, -1.190394401550293, 1.033226490020752, -1.2407492399215698, 0.12340734153985977, 1.3002593517303467, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1031891331076622, -1.1064698696136475, 0.9180209040641785, 0.5502784848213196, -0.325970858335495, -0.8104447722434998, -8.75326368259266e-05, 8.75326368259266e-05, 0.230601966381073, -1.1198214292526245, 0.9290837049484253, -1.2411307096481323, 0.12760357558727264, 1.3002593517303467, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1031891331076622, -1.0145342350006104, 0.8272297382354736, 0.6380178332328796, -0.3702220320701599, -0.8760585784912109, -8.75326368259266e-05, 8.75326368259266e-05, 0.2462424635887146, -1.0503928661346436, 0.8310444951057434, -1.2411307096481323, 0.13942931592464447, 1.3006408214569092, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10738536715507507, -0.9386205673217773, 0.7551308274269104, 0.7394903302192688, -0.4240100681781769, -0.9668498039245605, -8.75326368259266e-05, 8.75326368259266e-05, 0.26836803555488586, -0.9847791194915771, 0.7475013136863708, -1.2411307096481323, 0.14362554252147675, 1.3010224103927612, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10738536715507507, -0.8947508931159973, 0.7040131092071533, 0.8073930144309998, -0.49496451020240784, -1.0496299266815186, -8.75326368259266e-05, 8.75326368259266e-05, 0.28515297174453735, -0.9386205673217773, 0.6929503083229065, -1.2445639371871948, 0.19436179101467133, 1.3197146654129028, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10929274559020996, -0.8722438216209412, 0.6666285395622253, 0.84744793176651, -0.5655375123023987, -1.121347427368164, -8.75326368259266e-05, 8.75326368259266e-05, 0.28591591119766235, -0.9149690866470337, 0.6620507836341858, -1.2445639371871948, 0.30079346895217896, 1.3853284120559692, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12722209095954895, -0.8600366115570068, 0.6387808322906494, 0.8707179427146912, -0.6204699873924255, -1.188105583190918, -8.75326368259266e-05, 8.75326368259266e-05, 0.2771419882774353, -0.9016174674034119, 0.6452658772468567, -1.2441824674606323, 0.40951400995254517, 1.4639123678207397, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.152399480342865, -0.8558403849601746, 0.6181811094284058, 0.8844510316848755, -0.6528953909873962, -1.269741415977478, -8.75326368259266e-05, 8.75326368259266e-05, 0.2733272314071655, -0.8947508931159973, 0.6364919543266296, -1.2441824674606323, 0.5155642032623291, 1.5295262336730957, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18749523162841797, -0.8642328381538391, 0.6033035516738892, 0.89131760597229, -0.6734950542449951, -1.3593881130218506, -8.75326368259266e-05, 8.75326368259266e-05, 0.272945761680603, -0.89131760597229, 0.6311513185501099, -1.2441824674606323, 0.6158922910690308, 1.5829328298568726, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23365376889705658, -0.8951323628425598, 0.5933852195739746, 0.8714808821678162, -0.6868467330932617, -1.430724024772644, -8.75326368259266e-05, 8.75326368259266e-05, 0.2771419882774353, -0.88979172706604, 0.6273365616798401, -1.2438009977340698, 0.6811245679855347, 1.6165026426315308, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2943083941936493, -0.953498125076294, 0.5994887948036194, 0.8226520419120789, -0.6929503083229065, -1.4822232723236084, -8.75326368259266e-05, 8.75326368259266e-05, 0.2805752754211426, -0.8886472582817078, 0.6258106231689453, -1.2403677701950073, 0.7166017889976501, 1.6424429416656494, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3702220320701599, -1.028648853302002, 0.6258106231689453, 0.7642862796783447, -0.6956206560134888, -1.5211337804794312, -8.75326368259266e-05, 8.75326368259266e-05, 0.2740901708602905, -0.8886472582817078, 0.6250476837158203, -1.2411307096481323, 0.7391088604927063, 1.6538872718811035, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44117647409439087, -1.0954070091247559, 0.657473087310791, 0.7211795449256897, -0.6845578551292419, -1.5470740795135498, -8.75326368259266e-05, 8.75326368259266e-05, 0.27218279242515564, -0.8882657885551453, 0.6242847442626953, -1.2411307096481323, 0.7539864182472229, 1.667620301246643, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5117494463920593, -1.1568245887756348, 0.6929503083229065, 0.6788357496261597, -0.6677729487419128, -1.5684367418289185, -8.75326368259266e-05, 8.75326368259266e-05, 0.2756160795688629, -0.8882657885551453, 0.6239032745361328, -1.2411307096481323, 0.760471522808075, 1.6683833599090576, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5708781480789185, -1.2075608968734741, 0.7272831201553345, 0.6475547552108765, -0.6536583304405212, -1.576829195022583, -8.75326368259266e-05, 8.75326368259266e-05, 0.28629741072654724, -0.8882657885551453, 0.6227588057518005, -1.2415121793746948, 0.7639048099517822, 1.6725795269012451, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6246662139892578, -1.2518119812011719, 0.7616159319877625, 0.6227588057518005, -0.6418325901031494, -1.583314299583435, -8.75326368259266e-05, 8.75326368259266e-05, 0.2931639552116394, -0.8882657885551453, 0.620851457118988, -1.2411307096481323, 0.7681010365486145, 1.6752498149871826, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6631952524185181, -1.278515338897705, 0.7795453071594238, 0.6078813076019287, -0.6284809708595276, -1.5897992849349976, -8.75326368259266e-05, 8.75326368259266e-05, 0.29812315106391907, -0.8882657885551453, 0.620088517665863, -1.2422751188278198, 0.768482506275177, 1.6752498149871826, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.690280020236969, -1.2956817150115967, 0.7864118218421936, 0.5853742361068726, -0.6139848828315735, -1.5901808738708496, -9.087968646781519e-05, 9.087968646781519e-05, 0.30460822582244873, -0.8882657885551453, 0.6197070479393005, -1.2422751188278198, 0.769245445728302, 1.6752498149871826, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7040131092071533, -1.3040741682052612, 0.7871748208999634, 0.5605783462524414, -0.6055924296379089, -1.5901808738708496, -0.00819337461143732, 0.00819337461143732, 0.3114747703075409, -0.8882657885551453, 0.6197070479393005, -1.2422751188278198, 0.7703898549079895, 1.6752498149871826, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7028687000274658, -1.3021668195724487, 0.7791637778282166, 0.5384527444839478, -0.6082627773284912, -1.5901808738708496, -0.017928849905729294, 0.017928849905729294, 0.32063019275665283, -0.8882657885551453, 0.6197070479393005, -1.2415121793746948, 0.7703898549079895, 1.6798275709152222, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6837949156761169, -1.2708858251571655, 0.7539864182472229, 0.5300602912902832, -0.6185625791549683, -1.5844587087631226, -0.018084846436977386, 0.018084846436977386, 0.33474478125572205, -0.8882657885551453, 0.6197070479393005, -1.2415121793746948, 0.7703898549079895, 1.6996643543243408, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.647936224937439, -1.2075608968734741, 0.7097352743148804, 0.5357823967933655, -0.6254291534423828, -1.577592134475708, -0.018084846436977386, 0.018084846436977386, 0.36373692750930786, -0.8882657885551453, 0.6185625791549683, -1.2418936491012573, 0.76276034116745, 1.7423895597457886, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5869001150131226, -1.1064698696136475, 0.6445029377937317, 0.5502784848213196, -0.6296253800392151, -1.5669108629226685, -0.018084846436977386, 0.018084846436977386, 0.40951400995254517, -0.8882657885551453, 0.6174181699752808, -1.2422751188278198, 0.7360570430755615, 1.7988479137420654, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5132753252983093, -0.9866865277290344, 0.5746929049491882, 0.5586709380149841, -0.6322957277297974, -1.5505073070526123, -0.018084846436977386, 0.018084846436977386, 0.47398337721824646, -0.889028787612915, 0.6147478222846985, -1.2411307096481323, 0.6853207945823669, 1.8778133392333984, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44079500436782837, -0.8550774455070496, 0.5140383243560791, 0.5766003131866455, -0.6364919543266296, -1.5287632942199707, -0.018084846436977386, 0.018084846436977386, 0.54417484998703, -0.9019989371299744, 0.6124590039253235, -1.2411307096481323, 0.6246662139892578, 1.972800850868225, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3881513774394989, -0.734149694442749, 0.47550925612449646, 0.6261920928955078, -0.6418325901031494, -1.5150301456451416, -0.018084846436977386, 0.018084846436977386, 0.6109330654144287, -0.9321355223655701, 0.6113145351409912, -1.2407492399215698, 0.5605783462524414, 2.0742733478546143, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3606851398944855, -0.6399252414703369, 0.45719844102859497, 0.6891355514526367, -0.6597619652748108, -1.506637692451477, -0.018084846436977386, 0.018084846436977386, 0.6666285395622253, -0.9691386222839355, 0.6105515956878662, -1.2407492399215698, 0.50030517578125, 2.1692607402801514, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.344663143157959, -0.580033540725708, 0.4503318965435028, 0.7413977384567261, -0.6876096725463867, -1.5020599365234375, -0.018084846436977386, 0.018084846436977386, 0.7173647880554199, -1.0049973726272583, 0.6105515956878662, -1.2411307096481323, 0.4335469603538513, 2.2482261657714844, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33665215969085693, -0.5487525463104248, 0.44613564014434814, 0.7806897163391113, -0.7223239541053772, -1.4993896484375, -0.018084846436977386, 0.018084846436977386, 0.7566567659378052, -1.038185715675354, 0.6105515956878662, -1.2407492399215698, 0.36564430594444275, 2.3165102005004883, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33245593309402466, -0.5323491096496582, 0.44079500436782837, 0.8154039978981018, -0.7478827834129333, -1.498626708984375, -0.018084846436977386, 0.018084846436977386, 0.7818341255187988, -1.0698481798171997, 0.6105515956878662, -1.2403677701950073, 0.30422675609588623, 2.378690719604492, -4.0894770791055635e-05, 4.0894770791055635e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.32978561520576477, -0.5239566564559937, 0.4381246566772461, 0.8463035225868225, -0.7650492191314697, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.8039597272872925, -1.0927367210388184, 0.6109330654144287, -1.2403677701950073, 0.2470054179430008, 2.4000535011291504, -0.005984779447317123, 0.005984779447317123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.5193789601325989, 0.4373617172241211, 0.8760585784912109, -0.7738231420516968, -1.496337890625, -0.018084846436977386, 0.018084846436977386, 0.8196002244949341, -1.1030365228652954, 0.6132219433784485, -1.2407492399215698, 0.20580606162548065, 2.33062481880188, -0.02962367795407772, 0.02962367795407772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.5170900821685791, 0.4369802474975586, 0.8993285894393921, -0.7784008383750916, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.8230335116386414, -1.0946440696716309, 0.6219958662986755, -1.2407492399215698, 0.20580606162548065, 2.2135119438171387, -0.026830241084098816, 0.026830241084098816], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.5159456729888916, 0.4369802474975586, 0.9187838435173035, -0.7795453071594238, -1.4955748319625854, -0.018084846436977386, 0.018084846436977386, 0.7997635006904602, -1.0854886770248413, 0.6670100092887878, -1.2411307096481323, 0.30003052949905396, 2.0410850048065186, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.32673379778862, -0.5155642032623291, 0.4365987777709961, 0.9325169920921326, -0.7795453071594238, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.7578011751174927, -1.0912108421325684, 0.7383459210395813, -1.2415121793746948, 0.4655908942222595, 1.8698023557662964, -0.023328199982643127, 0.023328199982643127], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5155642032623291, 0.4365987777709961, 0.9473945498466492, -0.7795453071594238, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.7089722752571106, -1.1072328090667725, 0.8020523190498352, -1.2457083463668823, 0.6448844075202942, 1.737811803817749, -0.022591853514313698, 0.022591853514313698], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5155642032623291, 0.4369802474975586, 0.9588387608528137, -0.7795453071594238, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6734950542449951, -1.1255435943603516, 0.8398184180259705, -1.2468528747558594, 0.7822155952453613, 1.6504539251327515, -0.02193424664437771, 0.02193424664437771], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5155642032623291, 0.4369802474975586, 0.970283031463623, -0.7795453071594238, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6666285395622253, -1.1499580144882202, 0.8611810207366943, -1.2445639371871948, 0.8642328381538391, 1.597428798675537, -0.02098792791366577, 0.02098792791366577], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4365987777709961, 0.9771496057510376, -0.7799267768859863, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6742580533027649, -1.1869611740112305, 0.8779659867286682, -1.2441824674606323, 0.9111543297767639, 1.5650033950805664, -0.01981612853705883, 0.01981612853705883], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4365987777709961, 0.9798199534416199, -0.7833600640296936, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6834134459495544, -1.2266346216201782, 0.89131760597229, -1.2438009977340698, 0.9378576278686523, 1.5489814281463623, -0.018280213698744774, 0.018280213698744774], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4365987777709961, 0.9805828928947449, -0.7867932915687561, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6857023239135742, -1.2586785554885864, 0.8985656499862671, -1.2411307096481323, 0.9428167939186096, 1.5390630960464478, -0.01827043667435646, 0.01827043667435646], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4365987777709961, 0.9809643626213074, -0.7883192300796509, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6879911422729492, -1.2811856269836426, 0.9019989371299744, -1.2426565885543823, 0.9294651746749878, 1.5329594612121582, -0.016720470041036606, 0.016720470041036606], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4365987777709961, 0.9824903011322021, -0.7906080484390259, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.691042959690094, -1.2972075939178467, 0.9039062857627869, -1.2418936491012573, 0.9050507545471191, 1.5302891731262207, -0.015910837799310684, 0.015910837799310684], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4365987777709961, 0.9840161800384521, -0.7940413355827332, -1.496337890625, -0.018084846436977386, 0.018084846436977386, 0.6921873688697815, -1.3143739700317383, 0.9054322242736816, -1.2415121793746948, 0.8695735335350037, 1.5276188850402832, -0.015910837799310684, 0.015910837799310684], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4365987777709961, 0.9843976497650146, -0.7967116832733154, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.691805899143219, -1.3330663442611694, 0.9054322242736816, -1.2418936491012573, 0.8436331748962402, 1.5253299474716187, -0.015910837799310684, 0.015910837799310684], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4362172782421112, 0.9855420589447021, -0.8009079098701477, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6857023239135742, -1.3513771295547485, 0.9054322242736816, -1.2418936491012573, 0.8291370868682861, 1.5249484777450562, -0.015910837799310684, 0.015910837799310684], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4362172782421112, 0.9882124066352844, -0.8020523190498352, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6780728101730347, -1.3643473386764526, 0.9054322242736816, -1.2438009977340698, 0.8142595291137695, 1.5249484777450562, -0.015891918912529945, 0.015891918912529945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4354543387889862, 0.9893568158149719, -0.80510413646698, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6738765835762024, -1.3715953826904297, 0.9058136940002441, -1.2430380582809448, 0.8054856061935425, 1.5253299474716187, -0.01464887335896492, 0.01464887335896492], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4354543387889862, 0.9931715726852417, -0.8047226667404175, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6723506450653076, -1.3765544891357422, 0.9061951637268066, -1.2411307096481323, 0.7997635006904602, 1.5253299474716187, -0.013259774073958397, 0.013259774073958397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4354543387889862, 0.9977492690086365, -0.80510413646698, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6750209927558899, -1.3796063661575317, 0.9061951637268066, -1.2441824674606323, 0.7890821695327759, 1.5253299474716187, -0.01108338963240385, 0.01108338963240385], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4354543387889862, 1.0034713745117188, -0.80510413646698, -1.496337890625, -0.018084846436977386, 0.018084846436977386, 0.6818875670433044, -1.3830395936965942, 0.9065766334533691, -1.2479972839355469, 0.775730550289154, 1.5253299474716187, -0.008281816728413105, 0.008281816728413105], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4354543387889862, 1.0080491304397583, -0.8047226667404175, -1.496337890625, -0.018084846436977386, 0.018084846436977386, 0.6879911422729492, -1.3853284120559692, 0.9061951637268066, -1.2460898160934448, 0.7574197053909302, 1.5253299474716187, -0.00495340907946229, 0.00495340907946229], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4354543387889862, 1.0114823579788208, -0.804341197013855, -1.496337890625, -0.018084846436977386, 0.018084846436977386, 0.690280020236969, -1.3860913515090942, 0.9058136940002441, -1.2396048307418823, 0.7555122971534729, 1.5253299474716187, -0.0026886637788265944, 0.0026886637788265944], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4354543387889862, 1.0114823579788208, -0.8039597272872925, -1.496337890625, -0.018084846436977386, 0.018084846436977386, 0.6868467330932617, -1.3811322450637817, 0.9058136940002441, -1.2399863004684448, 0.7719157934188843, 1.5249484777450562, -0.0006985606160014868, 0.0006985606160014868], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4362172782421112, 1.0111008882522583, -0.8024337887763977, -1.496337890625, -0.018084846436977386, 0.018084846436977386, 0.6765468716621399, -1.3632028102874756, 0.9058136940002441, -1.2407492399215698, 0.7932783961296082, 1.5238040685653687, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4362172782421112, 1.0065232515335083, -0.8016708493232727, -1.496337890625, -0.018084846436977386, 0.018084846436977386, 0.6582360863685608, -1.3292515277862549, 0.9058136940002441, -1.2407492399215698, 0.8161669373512268, 1.511215329170227, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4362172782421112, 1.0019454956054688, -0.7997635006904602, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.6277180314064026, -1.2918668985366821, 0.9100099205970764, -1.2430380582809448, 0.8520256280899048, 1.498626708984375, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5151827335357666, 0.4362172782421112, 0.9985122680664062, -0.7970931529998779, -1.495956301689148, -0.018084846436977386, 0.018084846436977386, 0.5956740379333496, -1.2701228857040405, 0.9302281141281128, -1.2487602233886719, 0.9367132186889648, 1.4723048210144043, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5159456729888916, 0.4358358085155487, 0.995078980922699, -0.7921339869499207, -1.496337890625, -0.018075088039040565, 0.018075088039040565, 0.5991073250770569, -1.266308069229126, 0.9691386222839355, -1.3086519241333008, 1.0599298477172852, 1.4559013843536377, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5170900821685791, 0.4327840209007263, 0.9954604506492615, -0.7887006998062134, -1.495956301689148, -0.018075088039040565, 0.018075088039040565, 0.6368734240531921, -1.2834744453430176, 1.0225452184677124, -1.4303425550460815, 1.202601671218872, 1.4490348100662231, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.42973220348358154, 0.9954604506492615, -0.7864118218421936, -1.495956301689148, -0.018075088039040565, 0.018075088039040565, 0.6795986890792847, -1.3025482892990112, 1.0755703449249268, -1.5489814281463623, 1.3147554397583008, 1.4353017807006836, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.42591744661331177, 0.9954604506492615, -0.7860303521156311, -1.495956301689148, -0.018065331503748894, 0.018065331503748894, 0.7230868935585022, -1.3193331956863403, 1.10990309715271, -1.6561760902404785, 1.3899061679840088, 1.422713041305542, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4228656589984894, 0.995841920375824, -0.7860303521156311, -1.496337890625, -0.01805557683110237, 0.01805557683110237, 0.7558938264846802, -1.337262511253357, 1.128213882446289, -1.737811803817749, 1.4326313734054565, 1.4005874395370483, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4205767810344696, 1.0004196166992188, -0.7860303521156311, -1.495956301689148, -0.01804582215845585, 0.01804582215845585, 0.767719566822052, -1.353284478187561, 1.1366063356399536, -1.799229383468628, 1.4532310962677002, 1.3506141901016235, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4198138415813446, 1.0072861909866333, -0.7902265787124634, -1.495956301689148, -0.01804582215845585, 0.01804582215845585, 0.7730602025985718, -1.362058401107788, 1.1369879245758057, -1.8865872621536255, 1.4486533403396606, 1.3097963333129883, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4194323718547821, 1.0145342350006104, -0.7986190319061279, -1.495956301689148, -0.01804582215845585, 0.01804582215845585, 0.7719157934188843, -1.3666361570358276, 1.1369879245758057, -1.9529640674591064, 1.4005874395370483, 1.2548638582229614, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4198138415813446, 1.0225452184677124, -0.8077744841575623, -1.4955748319625854, -0.01804582215845585, 0.01804582215845585, 0.7654306888580322, -1.3693064451217651, 1.1327916383743286, -1.9926375150680542, 1.3059815168380737, 1.1949721574783325, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4205767810344696, 1.0271228551864624, -0.8154039978981018, -1.4909971952438354, -0.01805557683110237, 0.01805557683110237, 0.7608529925346375, -1.3708323240280151, 1.1182955503463745, -2.015526056289673, 1.190394401550293, 1.1125733852386475, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4205767810344696, 1.029411792755127, -0.8222705721855164, -1.484130620956421, -0.01805557683110237, 0.01805557683110237, 0.761997401714325, -1.3712139129638672, 1.0847257375717163, -2.027733325958252, 1.0610742568969727, 1.0057603120803833, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4205767810344696, 1.029411792755127, -0.8306630253791809, -1.4806973934173584, -0.01805557683110237, 0.01805557683110237, 0.7658121585845947, -1.3715953826904297, 1.038185715675354, -2.034599781036377, 0.9355688095092773, 0.890554666519165, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4198138415813446, 1.029411792755127, -0.8371480703353882, -1.4768825769424438, -0.01805557683110237, 0.01805557683110237, 0.7665750980377197, -1.3715953826904297, 0.9901197552680969, -2.0387959480285645, 0.8188372850418091, 0.7768749594688416, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4198138415813446, 1.029411792755127, -0.8405813574790955, -1.4761196374893188, -0.018065331503748894, 0.018065331503748894, 0.7650492191314697, -1.3715953826904297, 0.951972246170044, -2.042229413986206, 0.7219424843788147, 0.6673914790153503, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4201953113079071, 1.027885913848877, -0.8440146446228027, -1.4734493494033813, -0.018075088039040565, 0.018075088039040565, 0.7593270540237427, -1.3731212615966797, 0.9245060086250305, -2.0426108837127686, 0.6403067111968994, 0.5655375123023987, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4205767810344696, 1.0210193395614624, -0.84592205286026, -1.4734493494033813, -0.018084846436977386, 0.018084846436977386, 0.7501716613769531, -1.3784618377685547, 0.9092469811439514, -2.0433738231658936, 0.5788891315460205, 0.483138769865036, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4209582805633545, 1.0133898258209229, -0.8470664620399475, -1.4734493494033813, -0.018878456205129623, 0.018878456205129623, 0.7394903302192688, -1.3872358798980713, 0.9012359976768494, -2.043755292892456, 0.5239566564559937, 0.42706188559532166, -0.00616643438115716, 0.00616643438115716], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4217212200164795, 1.0069047212600708, -0.8539330363273621, -1.4734493494033813, -0.019163992255926132, 0.019163992255926132, 0.726138710975647, -1.3960098028182983, 0.8970397710800171, -2.0456626415252686, 0.47703516483306885, 0.3892957866191864, -0.014208073727786541, 0.014208073727786541], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.422102689743042, 1.0034713745117188, -0.8592736721038818, -1.4734493494033813, -0.019163992255926132, 0.019163992255926132, 0.7146944403648376, -1.4005874395370483, 0.8951323628425598, -2.045281171798706, 0.4358358085155487, 0.3919661343097687, -0.01423549372702837, 0.01423549372702837], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.422102689743042, 1.0004196166992188, -0.8611810207366943, -1.4734493494033813, -0.019163992255926132, 0.019163992255926132, 0.7051575779914856, -1.4021133184432983, 0.8966583013534546, -2.0448997020721436, 0.4056992530822754, 0.45948728919029236, -0.015327383764088154, 0.015327383764088154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4232471287250519, 0.9981307983398438, -0.8604180812835693, -1.4734493494033813, -0.019163992255926132, 0.019163992255926132, 0.6944762468338013, -1.3952468633651733, 0.9081025123596191, -2.0448997020721436, 0.3873884081840515, 0.6101701259613037, -0.016720470041036606, 0.016720470041036606], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.42553597688674927, 0.994316041469574, -0.8566033244132996, -1.4734493494033813, -0.019163992255926132, 0.019163992255926132, 0.6742580533027649, -1.3776988983154297, 0.9283207654953003, -2.0433738231658936, 0.3751811981201172, 0.8325703740119934, -0.018475979566574097, 0.018475979566574097], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.42858776450157166, 0.9924086332321167, -0.8543145060539246, -1.4734493494033813, -0.01917385123670101, 0.01917385123670101, 0.6517509818077087, -1.3601510524749756, 0.9561684727668762, -2.0433738231658936, 0.3774700462818146, 1.0755703449249268, -0.02146591618657112, 0.02146591618657112], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.43202105164527893, 0.9916456937789917, -0.8531700372695923, -1.4730678796768188, -0.019233016297221184, 0.019233016297221184, 0.6399252414703369, -1.350995659828186, 0.9988937377929688, -2.0433738231658936, 0.42744335532188416, 1.3029297590255737, -0.022512171417474747, 0.022512171417474747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4343098998069763, 0.9870679974555969, -0.848210871219635, -1.4688715934753418, -0.019233016297221184, 0.019233016297221184, 0.6338216066360474, -1.357480764389038, 1.0561150312423706, -2.0387959480285645, 0.5117494463920593, 1.4948118925094604, -0.02322879247367382, 0.02322879247367382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4373617172241211, 0.9794384837150574, -0.8432517051696777, -1.4620050191879272, -0.019233016297221184, 0.019233016297221184, 0.6094071865081787, -1.3834210634231567, 1.1263065338134766, -1.9407567977905273, 0.6254291534423828, 1.592088222503662, -0.02322879247367382, 0.02322879247367382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.4396505653858185, 0.967994213104248, -0.8413442969322205, -1.4574273824691772, -0.019233016297221184, 0.019233016297221184, 0.570496678352356, -1.4230945110321045, 1.1972609758377075, -1.7748149633407593, 0.7433050870895386, 1.6268024444580078, -0.02322879247367382, 0.02322879247367382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5178530812263489, 0.44155794382095337, 0.952735185623169, -0.838674008846283, -1.4459830522537231, -0.019233016297221184, 0.019233016297221184, 0.5472266674041748, -1.4536125659942627, 1.2438009977340698, -1.662279725074768, 0.8169298768043518, 1.642061471939087, -0.023189019411802292, 0.023189019411802292], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.325970858335495, -0.5178530812263489, 0.44232088327407837, 0.9374761581420898, -0.838674008846283, -1.435683250427246, -0.019233016297221184, 0.019233016297221184, 0.5312047004699707, -1.4787899255752563, 1.2674524784088135, -1.5962843894958496, 0.8665217161178589, 1.653505802154541, -0.02315918728709221, 0.02315918728709221], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.325970858335495, -0.5178530812263489, 0.44346532225608826, 0.9225986003875732, -0.8440146446228027, -1.4230945110321045, -0.019233016297221184, 0.019233016297221184, 0.5201418995857239, -1.495956301689148, 1.2804226875305176, -1.5650033950805664, 0.88979172706604, 1.666857361793518, -0.02310945838689804, 0.02310945838689804], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44460976123809814, 0.9122987985610962, -0.8554589152336121, -1.41470205783844, -0.019233016297221184, 0.019233016297221184, 0.5174715518951416, -1.505111813545227, 1.2869077920913696, -1.5424963235855103, 0.9035248160362244, 1.6672388315200806, -0.021715009585022926, 0.021715009585022926], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44460976123809814, 0.9073395729064941, -0.8653773069381714, -1.4085984230041504, -0.019233016297221184, 0.019233016297221184, 0.5144197940826416, -1.5108338594436646, 1.2895780801773071, -1.5245670080184937, 0.9252689480781555, 1.6512168645858765, -0.02165522240102291, 0.02165522240102291], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44460976123809814, 0.9035248160362244, -0.8730067610740662, -1.4047837257385254, -0.019233016297221184, 0.019233016297221184, 0.5064088106155396, -1.513122797012329, 1.2914854288101196, -1.5245670080184937, 0.9378576278686523, 1.6409170627593994, -0.021027743816375732, 0.021027743816375732], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44499123096466064, 0.9012359976768494, -0.8772030472755432, -1.4005874395370483, -0.019233016297221184, 0.019233016297221184, 0.5037384629249573, -1.5165560245513916, 1.2918668985366821, -1.5203708410263062, 0.9424353241920471, 1.640535593032837, -0.017987318336963654, 0.017987318336963654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44537270069122314, 0.9016174674034119, -0.881017804145813, -1.3971542119979858, -0.019233016297221184, 0.019233016297221184, 0.5045014023780823, -1.5318150520324707, 1.2918668985366821, -1.5157930850982666, 0.9222171306610107, 1.6523613929748535, -0.01702794060111046, 0.01702794060111046], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44499123096466064, 0.9027618765830994, -0.8836880922317505, -1.3941023349761963, -0.019233016297221184, 0.019233016297221184, 0.5056458115577698, -1.5539406538009644, 1.2918668985366821, -1.5135042667388916, 0.8924620151519775, 1.6767758131027222, -0.01702794060111046, 0.01702794060111046], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44384679198265076, 0.9084840416908264, -0.8836880922317505, -1.3937208652496338, -0.019233016297221184, 0.019233016297221184, 0.5109865069389343, -1.5756847858428955, 1.2918668985366821, -1.5135042667388916, 0.8562218546867371, 1.6981383562088013, -0.01700868457555771, 0.01700868457555771], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44308385252952576, 0.916113555431366, -0.8836880922317505, -1.3937208652496338, -0.019233016297221184, 0.019233016297221184, 0.5128938555717468, -1.594377040863037, 1.2922483682632446, -1.509689450263977, 0.8264667987823486, 1.721789836883545, -0.016548138111829758, 0.016548138111829758], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44308385252952576, 0.9199283123016357, -0.8836880922317505, -1.3937208652496338, -0.019233016297221184, 0.019233016297221184, 0.5094605684280396, -1.6081101894378662, 1.2922483682632446, -1.510452389717102, 0.8005264401435852, 1.739719271659851, -0.016300030052661896, 0.016300030052661896], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44270238280296326, 0.9233615398406982, -0.884069561958313, -1.3937208652496338, -0.019233016297221184, 0.019233016297221184, 0.5029755234718323, -1.6184099912643433, 1.2922483682632446, -1.511215329170227, 0.7833600640296936, 1.7465858459472656, -0.01570308580994606, 0.01570308580994606], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44232088327407837, 0.9237430095672607, -0.8863584399223328, -1.3937208652496338, -0.019233016297221184, 0.019233016297221184, 0.4964904189109802, -1.6264209747314453, 1.2926298379898071, -1.5135042667388916, 0.7722972631454468, 1.7542153596878052, -0.01570308580994606, 0.01570308580994606], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44117647409439087, 0.924124538898468, -0.8909361362457275, -1.3937208652496338, -0.019233016297221184, 0.019233016297221184, 0.49229419231414795, -1.6329060792922974, 1.2926298379898071, -1.513885736465454, 0.7673380374908447, 1.7587929964065552, -0.01570308580994606, 0.01570308580994606], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44079500436782837, 0.924887478351593, -0.89131760597229, -1.3937208652496338, -0.019233016297221184, 0.019233016297221184, 0.49229419231414795, -1.6393911838531494, 1.2926298379898071, -1.513885736465454, 0.76276034116745, 1.7652781009674072, -0.01566539704799652, 0.01566539704799652], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.44079500436782837, 0.926413357257843, -0.8932250142097473, -1.3937208652496338, -0.019233016297221184, 0.019233016297221184, 0.49267566204071045, -1.646257758140564, 1.2926298379898071, -1.513122797012329, 0.761997401714325, 1.7710002660751343, -0.013962087221443653, 0.013962087221443653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4404135048389435, 0.9267948269844055, -0.8943694233894348, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.4957274794578552, -1.652742862701416, 1.2926298379898071, -1.513885736465454, 0.7616159319877625, 1.7725261449813843, -0.01386228483170271, 0.01386228483170271], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4396505653858185, 0.9275577664375305, -0.8943694233894348, -1.3937208652496338, -0.019233016297221184, 0.019233016297221184, 0.4991607666015625, -1.6584649085998535, 1.2926298379898071, -1.5135042667388916, 0.7600900530815125, 1.7725261449813843, -0.012922282330691814, 0.012922282330691814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4396505653858185, 0.9279392957687378, -0.8943694233894348, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.499542236328125, -1.6634241342544556, 1.2926298379898071, -1.513122797012329, 0.7589455842971802, 1.7729076147079468, -0.0126756327226758, 0.0126756327226758], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.439269095659256, 0.9309910535812378, -0.8943694233894348, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.499542236328125, -1.6672388315200806, 1.2926298379898071, -1.5135042667388916, 0.7589455842971802, 1.7732890844345093, -0.010702627710998058, 0.010702627710998058], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4381246566772461, 0.9317540526390076, -0.8947508931159973, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.5022125840187073, -1.6706721782684326, 1.2926298379898071, -1.513122797012329, 0.7589455842971802, 1.7759593725204468, -0.009049679152667522, 0.009049679152667522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4373617172241211, 0.9348058104515076, -0.8947508931159973, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.5048828721046448, -1.6733424663543701, 1.2926298379898071, -1.513122797012329, 0.7589455842971802, 1.7759593725204468, -0.008602019399404526, 0.008602019399404526], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4365987777709961, 0.9370946884155273, -0.8947508931159973, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.506790280342102, -1.6756312847137451, 1.2930114269256592, -1.5135042667388916, 0.7589455842971802, 1.7759593725204468, -0.008061467669904232, 0.008061467669904232], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4362172782421112, 0.9390020370483398, -0.8947508931159973, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.508316159248352, -1.6767758131027222, 1.2930114269256592, -1.5142672061920166, 0.7589455842971802, 1.7759593725204468, -0.006922178436070681, 0.006922178436070681], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4358358085155487, 0.9397650361061096, -0.8947508931159973, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.509079098701477, -1.6779202222824097, 1.2930114269256592, -1.516937494277954, 0.7585641145706177, 1.7759593725204468, -0.002285977127030492, 0.002285977127030492], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4358358085155487, 0.9393835067749023, -0.8951323628425598, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.506027340888977, -1.6783016920089722, 1.2933928966522217, -1.513122797012329, 0.7600900530815125, 1.7755779027938843, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4358358085155487, 0.9386205673217773, -0.8955138325691223, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.4968718886375427, -1.6771572828292847, 1.2933928966522217, -1.508926510810852, 0.7646677494049072, 1.7748149633407593, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4358358085155487, 0.9344243407249451, -0.8955138325691223, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.4827573001384735, -1.6695277690887451, 1.2930114269256592, -1.5100709199905396, 0.7917525172233582, 1.7717632055282593, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3263523280620575, -0.5178530812263489, 0.4358358085155487, 0.9332799315452576, -0.8958953022956848, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.4701686203479767, -1.6538872718811035, 1.2930114269256592, -1.5318150520324707, 0.8031967878341675, 1.7591744661331177, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.5178530812263489, 0.4350728690624237, 0.9313725233078003, -0.8951323628425598, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.4713130295276642, -1.6401541233062744, 1.2930114269256592, -1.6126878261566162, 0.839436948299408, 1.7576485872268677, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.5178530812263489, 0.4339284300804138, 0.9313725233078003, -0.8932250142097473, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.47436484694480896, -1.6271839141845703, 1.2930114269256592, -1.6958495378494263, 0.8806362748146057, 1.7553597688674927, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3271152675151825, -0.5178530812263489, 0.43240252137184143, 0.9309910535812378, -0.8886472582817078, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.47589075565338135, -1.6111619472503662, 1.2930114269256592, -1.7515449523925781, 0.9039062857627869, 1.745822787284851, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3271152675151825, -0.5178530812263489, 0.43202105164527893, 0.9302281141281128, -0.8871213793754578, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.49038681387901306, -1.5989547967910767, 1.2930114269256592, -1.8282215595245361, 0.9275577664375305, 1.7454413175582886, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3271152675151825, -0.5178530812263489, 0.43125811219215393, 0.9302281141281128, -0.8863584399223328, -1.3933393955230713, -0.019233016297221184, 0.019233016297221184, 0.5071717500686646, -1.591325283050537, 1.2930114269256592, -1.9151979684829712, 0.9538795948028564, 1.744296908378601, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3271152675151825, -0.5182345509529114, 0.43049514293670654, 0.9302281141281128, -0.8829251527786255, -1.3929579257965088, -0.019233016297221184, 0.019233016297221184, 0.5159456729888916, -1.58712899684906, 1.2930114269256592, -1.9731823205947876, 0.9771496057510376, 1.736285924911499, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5182345509529114, 0.42935073375701904, 0.9309910535812378, -0.8829251527786255, -1.3925764560699463, -0.019233016297221184, 0.019233016297221184, 0.5304417610168457, -1.584840178489685, 1.2930114269256592, -2.0040817260742188, 0.9924086332321167, 1.718738079071045, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5182345509529114, 0.42782482504844666, 0.9321355223655701, -0.882543683052063, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.5514228940010071, -1.58407723903656, 1.2930114269256592, -2.0220110416412354, 1.0053788423538208, 1.6866941452026367, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5182345509529114, 0.42629891633987427, 0.9355688095092773, -0.882543683052063, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.576218843460083, -1.583314299583435, 1.2930114269256592, -2.0349812507629395, 1.0141527652740479, 1.642061471939087, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5182345509529114, 0.42553597688674927, 0.9390020370483398, -0.8821622133255005, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.6109330654144287, -1.583314299583435, 1.2930114269256592, -2.0387959480285645, 1.0175859928131104, 1.584840178489685, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5182345509529114, 0.4240100681781769, 0.9439612627029419, -0.881780743598938, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.6425955891609192, -1.583314299583435, 1.2918668985366821, -2.042229413986206, 1.0191118717193604, 1.5337224006652832, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5182345509529114, 0.4224841594696045, 0.9500648379325867, -0.881017804145813, -1.3899061679840088, -0.019233016297221184, 0.019233016297221184, 0.6666285395622253, -1.583314299583435, 1.2869077920913696, -2.046044111251831, 1.0225452184677124, 1.501678466796875, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5182345509529114, 0.4201953113079071, 0.954261064529419, -0.8802548050880432, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.6872282028198242, -1.583314299583435, 1.2666895389556885, -2.0464255809783936, 1.022926688194275, 1.4738308191299438, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5186160206794739, 0.4186694025993347, 0.959220290184021, -0.8779659867286682, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.7001983523368835, -1.583314299583435, 1.2331197261810303, -2.046044111251831, 1.022926688194275, 1.4459830522537231, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5197604298591614, 0.4175249934196472, 0.9630350470542908, -0.8745326995849609, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.7024872303009033, -1.583314299583435, 1.202601671218872, -2.046807050704956, 1.0248340368270874, 1.4326313734054565, -0.002678976394236088, 0.002678976394236088], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5201418995857239, 0.4175249934196472, 0.9657053351402283, -0.8718623518943787, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.7021057605743408, -1.583314299583435, 1.1877241134643555, -2.047569990158081, 1.024452567100525, 1.4303425550460815, -0.007542926352471113, 0.007542926352471113], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5205233693122864, 0.4175249934196472, 0.9653238654136658, -0.8710994124412537, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.6986724734306335, -1.5829328298568726, 1.1900129318237305, -2.047569990158081, 1.0248340368270874, 1.439497947692871, -0.008775392547249794, 0.008775392547249794], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5209048390388489, 0.4179064631462097, 0.9645609259605408, -0.8680475950241089, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.6956206560134888, -1.58255136013031, 1.2125200033187866, -2.048332929611206, 1.024452567100525, 1.4772640466690063, -0.01248306967318058, 0.01248306967318058], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5209048390388489, 0.4182879328727722, 0.9611276388168335, -0.8684290647506714, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.6952391862869263, -1.58255136013031, 1.2472343444824219, -2.0479514598846436, 1.024452567100525, 1.5173189640045166, -0.01465810276567936, 0.01465810276567936], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5209048390388489, 0.4182879328727722, 0.9603646993637085, -0.8714808821678162, -1.3902876377105713, -0.019233016297221184, 0.019233016297221184, 0.6956206560134888, -1.58255136013031, 1.28080415725708, -2.0471885204315186, 1.024452567100525, 1.5428777933120728, -0.01713394746184349, 0.01713394746184349], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5209048390388489, 0.4182879328727722, 0.9573128819465637, -0.8726252913475037, -1.3902876377105713, -0.01924287900328636, 0.01924287900328636, 0.6963835954666138, -1.58255136013031, 1.3040741682052612, -2.0471885204315186, 1.024452567100525, 1.5588998794555664, -0.017685668542981148, 0.017685668542981148], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5209048390388489, 0.4182879328727722, 0.9561684727668762, -0.8745326995849609, -1.3902876377105713, -0.019469931721687317, 0.019469931721687317, 0.6853207945823669, -1.58255136013031, 1.3162813186645508, -2.035362720489502, 1.0236896276474, 1.575303316116333, -0.01767595484852791, 0.01767595484852791], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5216678380966187, 0.4186694025993347, 0.953498125076294, -0.8745326995849609, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.6269550919532776, -1.5829328298568726, 1.3227664232254028, -1.9293125867843628, 1.0183489322662354, 1.5714884996414185, -0.01670129969716072, 0.01670129969716072], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5220493078231812, 0.4198138415813446, 0.952735185623169, -0.8726252913475037, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.5605783462524414, -1.591325283050537, 1.3254368305206299, -1.7793927192687988, 1.0114823579788208, 1.5505073070526123, -0.015168530866503716, 0.015168530866503716], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5220493078231812, 0.4198138415813446, 0.9496833682060242, -0.8726252913475037, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.5151827335357666, -1.6008621454238892, 1.3273441791534424, -1.6783016920089722, 1.0038528442382812, 1.5352483987808228, -0.015093951486051083, 0.015093951486051083], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5220493078231812, 0.4198138415813446, 0.9481574892997742, -0.8737697601318359, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.4861905872821808, -1.6107804775238037, 1.3281071186065674, -1.6237506866455078, 1.0011825561523438, 1.5199893712997437, -0.015093951486051083, 0.015093951486051083], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5220493078231812, 0.4198138415813446, 0.9454871416091919, -0.8768215179443359, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.4705500900745392, -1.6214618682861328, 1.3281071186065674, -1.591325283050537, 0.9935530424118042, 1.508926510810852, -0.015093951486051083, 0.015093951486051083], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5220493078231812, 0.4198138415813446, 0.9443427324295044, -0.8802548050880432, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.4671168029308319, -1.6294728517532349, 1.3284885883331299, -1.568818211555481, 0.9794384837150574, 1.50091552734375, -0.015093951486051083, 0.015093951486051083], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5220493078231812, 0.4201953113079071, 0.9420538544654846, -0.883306622505188, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.46330204606056213, -1.636720895767212, 1.3284885883331299, -1.5588998794555664, 0.9699015617370605, 1.494430422782898, -0.014409561641514301, 0.014409561641514301], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5220493078231812, 0.4201953113079071, 0.9420538544654846, -0.8848325610160828, -1.3906691074371338, -0.019925083965063095, 0.019925083965063095, 0.45643550157546997, -1.643587350845337, 1.3284885883331299, -1.5543221235275269, 0.9634165167808533, 1.494430422782898, -0.013998438604176044, 0.013998438604176044], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5220493078231812, 0.4201953113079071, 0.9416723847389221, -0.8871213793754578, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.4491874575614929, -1.647783637046814, 1.3284885883331299, -1.5493628978729248, 0.9596017599105835, 1.4940489530563354, -0.013998438604176044, 0.013998438604176044], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5224307775497437, 0.4201953113079071, 0.9405279755592346, -0.8871213793754578, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.44193941354751587, -1.6504539251327515, 1.3284885883331299, -1.5470740795135498, 0.955024003982544, 1.4940489530563354, -0.013998438604176044, 0.013998438604176044], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5231937170028687, 0.4201953113079071, 0.9405279755592346, -0.8867399096488953, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.4369802474975586, -1.652742862701416, 1.3284885883331299, -1.5470740795135498, 0.9515907764434814, 1.494430422782898, -0.013989347964525223, 0.013989347964525223], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5247195959091187, 0.4201953113079071, 0.9405279755592346, -0.883306622505188, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.4358358085155487, -1.655794620513916, 1.3284885883331299, -1.5470740795135498, 0.9454871416091919, 1.4948118925094604, -0.013889480382204056, 0.013889480382204056], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5266270041465759, 0.4201953113079071, 0.9393835067749023, -0.883306622505188, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.4339284300804138, -1.660753846168518, 1.3284885883331299, -1.5447852611541748, 0.9405279755592346, 1.495956301689148, -0.013717557303607464, 0.013717557303607464], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5277714133262634, 0.4201953113079071, 0.9390020370483398, -0.882543683052063, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.43125811219215393, -1.666857361793518, 1.3284885883331299, -1.5447852611541748, 0.9344243407249451, 1.4993896484375, -0.01229161024093628, 0.01229161024093628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5277714133262634, 0.4201953113079071, 0.9390020370483398, -0.8813992738723755, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.43125811219215393, -1.6718165874481201, 1.3284885883331299, -1.5451667308807373, 0.9260318875312805, 1.500152587890625, -0.010335363447666168, 0.010335363447666168], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5281528830528259, 0.4201953113079071, 0.9386205673217773, -0.8802548050880432, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.43125811219215393, -1.6744868755340576, 1.3284885883331299, -1.5444037914276123, 0.9187838435173035, 1.503204345703125, -0.009957394562661648, 0.009957394562661648], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5289158225059509, 0.4201953113079071, 0.9382390975952148, -0.8802548050880432, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.43011367321014404, -1.6767758131027222, 1.3284885883331299, -1.5436408519744873, 0.9145876169204712, 1.503204345703125, -0.008790536783635616, 0.008790536783635616], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5292973518371582, 0.4205767810344696, 0.9378576278686523, -0.8802548050880432, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.42744335532188416, -1.6779202222824097, 1.3284885883331299, -1.5417333841323853, 0.9107728600502014, 1.5070191621780396, -0.005453156773000956, 0.005453156773000956], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5300602912902832, 0.4205767810344696, 0.9348058104515076, -0.8802548050880432, -1.3902876377105713, -0.019925083965063095, 0.019925083965063095, 0.4224841594696045, -1.6786831617355347, 1.3288700580596924, -1.5421148538589478, 0.9081025123596191, 1.5070191621780396, -0.001209614216350019, 0.001209614216350019], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5308232307434082, 0.4205767810344696, 0.9344243407249451, -0.8798733353614807, -1.3899061679840088, -0.019925083965063095, 0.019925083965063095, 0.41676202416419983, -1.6794461011886597, 1.3292515277862549, -1.5428777933120728, 0.9073395729064941, 1.5070191621780396, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.5327305793762207, 0.421339750289917, 0.927176296710968, -0.8798733353614807, -1.3799878358840942, -0.019915176555514336, 0.019915176555514336, 0.4087510406970978, -1.6794461011886597, 1.3292515277862549, -1.5440223217010498, 0.9054322242736816, 1.506637692451477, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.325970858335495, -0.5395971536636353, 0.4236285984516144, 0.9061951637268066, -0.8794918656349182, -1.355954885482788, -0.019915176555514336, 0.019915176555514336, 0.39806973934173584, -1.6798275709152222, 1.3292515277862549, -1.5440223217010498, 0.9046692848205566, 1.5127413272857666, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33093002438545227, -0.5586709380149841, 0.43049514293670654, 0.8772030472755432, -0.8791103959083557, -1.3292515277862549, -0.019915176555514336, 0.019915176555514336, 0.38357365131378174, -1.6760128736495972, 1.3284885883331299, -1.5482184886932373, 0.8978027105331421, 1.5539406538009644, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3572518527507782, -0.5941481590270996, 0.44728007912635803, 0.8581292629241943, -0.8726252913475037, -1.3105592727661133, -0.019915176555514336, 0.019915176555514336, 0.3702220320701599, -1.6634241342544556, 1.3284885883331299, -1.5482184886932373, 0.8844510316848755, 1.6088731288909912, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41180285811424255, -0.648699164390564, 0.47779813408851624, 0.8539330363273621, -0.8543145060539246, -1.2994964122772217, -0.019915176555514336, 0.019915176555514336, 0.3583962619304657, -1.645494818687439, 1.3269627094268799, -1.5470740795135498, 0.8791103959083557, 1.6775387525558472, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4888609051704407, -0.7242313027381897, 0.5251010656356812, 0.8566033244132996, -0.8295185565948486, -1.2922483682632446, -0.019915176555514336, 0.019915176555514336, 0.343900203704834, -1.6172655820846558, 1.3090333938598633, -1.5470740795135498, 0.8649957776069641, 1.7576485872268677, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5605783462524414, -0.8134965896606445, 0.5849927663803101, 0.8657587766647339, -0.8077744841575623, -1.2888151407241821, -0.019915176555514336, 0.019915176555514336, 0.3290226459503174, -1.575303316116333, 1.2636377811431885, -1.5466926097869873, 0.8295185565948486, 1.8400473594665527, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6227588057518005, -0.9100099205970764, 0.655184268951416, 0.8794918656349182, -0.7845044732093811, -1.2888151407241821, -0.019905269145965576, 0.019905269145965576, 0.31795987486839294, -1.5321965217590332, 1.2006943225860596, -1.5459296703338623, 0.7967116832733154, 1.9159609079360962, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6746395230293274, -1.0095750093460083, 0.7345311641693115, 0.9084840416908264, -0.7665750980377197, -1.3010224103927612, -0.019905269145965576, 0.019905269145965576, 0.3072785437107086, -1.4902342557907104, 1.1366063356399536, -1.5440223217010498, 0.7616159319877625, 1.9827191829681396, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7173647880554199, -1.1045624017715454, 0.8146410584449768, 0.9431982636451721, -0.7570382356643677, -1.3124666213989258, -0.019905269145965576, 0.019905269145965576, 0.29812315106391907, -1.4585717916488647, 1.0889219045639038, -1.5440223217010498, 0.7360570430755615, 2.0349812507629395, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7516975402832031, -1.1900129318237305, 0.8875028491020203, 0.9660868048667908, -0.7471198439598083, -1.3261997699737549, -0.019905269145965576, 0.019905269145965576, 0.2798123061656952, -1.4303425550460815, 1.0473411083221436, -1.5424963235855103, 0.7227054238319397, 2.0838100910186768, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -1.264782190322876, 0.9523537158966064, 0.9805828928947449, -0.733386754989624, -1.334973692893982, -0.019697343930602074, 0.019697343930602074, 0.25577935576438904, -1.404402256011963, 1.0137712955474854, -1.5444037914276123, 0.7146944403648376, 2.1269168853759766, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8073930144309998, -1.3353551626205444, 1.0114823579788208, 1.0149157047271729, -0.7234683632850647, -1.3639658689498901, -0.019677555188536644, 0.019677555188536644, 0.24204623699188232, -1.3830395936965942, 0.9885938763618469, -1.5459296703338623, 0.7089722752571106, 2.1570534706115723, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8329518437385559, -1.3963912725448608, 1.0595483779907227, 1.0702296495437622, -0.7131685614585876, -1.4135576486587524, -0.019677555188536644, 0.019677555188536644, 0.23365376889705658, -1.3685435056686401, 0.9691386222839355, -1.5436408519744873, 0.7074463963508606, 2.173456907272339, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, -1.4456015825271606, 1.0954070091247559, 1.1125733852386475, -0.6952391862869263, -1.4616235494613647, -0.01968744955956936, 0.01968744955956936, 0.22640573978424072, -1.360532522201538, 0.953498125076294, -1.5440223217010498, 0.7047760486602783, 2.1845197677612305, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8680475950241089, -1.4902342557907104, 1.1327916383743286, 1.1568245887756348, -0.6754024624824524, -1.5257114171981812, -0.019677555188536644, 0.019677555188536644, 0.22411687672138214, -1.3551918268203735, 0.9420538544654846, -1.5436408519744873, 0.7032501697540283, 2.191004753112793, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8916990756988525, -1.5321965217590332, 1.1747539043426514, 1.2212939262390137, -0.6692988276481628, -1.6008621454238892, -0.019677555188536644, 0.019677555188536644, 0.22259098291397095, -1.352521538734436, 0.9340428709983826, -1.5440223217010498, 0.7028687000274658, 2.1913862228393555, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9225986003875732, -1.5684367418289185, 1.2174792289733887, 1.3048371076583862, -0.6738765835762024, -1.6824978590011597, -0.019677555188536644, 0.019677555188536644, 0.22068360447883606, -1.351758599281311, 0.9298466444015503, -1.5440223217010498, 0.7032501697540283, 2.1921491622924805, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9569314122200012, -1.6031509637832642, 1.2628748416900635, 1.3929579257965088, -0.6960021257400513, -1.7568856477737427, -0.018250884488224983, 0.018250884488224983, 0.22030213475227356, -1.3506141901016235, 0.927176296710968, -1.5440223217010498, 0.7028687000274658, 2.195582628250122, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9866865277290344, -1.6416800022125244, 1.3086519241333008, 1.4517052173614502, -0.7318608164787292, -1.8102922439575195, -0.01824110932648182, 0.01824110932648182, 0.22068360447883606, -1.3506141901016235, 0.9260318875312805, -1.5440223217010498, 0.7032501697540283, 2.1952009201049805, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0061417818069458, -1.6775387525558472, 1.343747615814209, 1.4894713163375854, -0.7646677494049072, -1.8457694053649902, -0.018231334164738655, 0.018231334164738655, 0.22335393726825714, -1.3506141901016235, 0.9252689480781555, -1.5440223217010498, 0.7032501697540283, 2.194819450378418, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0187304019927979, -1.7004272937774658, 1.3624398708343506, 1.5119783878326416, -0.7829785346984863, -1.8667505979537964, -0.017114661633968353, 0.017114661633968353, 0.22449836134910583, -1.3506141901016235, 0.9252689480781555, -1.5440223217010498, 0.7032501697540283, 2.191767692565918, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0271228551864624, -1.717212200164795, 1.3727397918701172, 1.5272372961044312, -0.7944228053092957, -1.8789578676223755, -0.016883643344044685, 0.016883643344044685, 0.22526131570339203, -1.3506141901016235, 0.9252689480781555, -1.5440223217010498, 0.7032501697540283, 2.191004753112793, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0336079597473145, -1.7301822900772095, 1.3784618377685547, 1.5352483987808228, -0.8012893795967102, -1.8858243227005005, -0.016883643344044685, 0.016883643344044685, 0.22640573978424072, -1.3506141901016235, 0.9252689480781555, -1.5440223217010498, 0.7032501697540283, 2.1875715255737305, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0362783670425415, -1.739719271659851, 1.3818951845169067, 1.5436408519744873, -0.8012893795967102, -1.8892576694488525, -0.016634246334433556, 0.016634246334433556, 0.22678720951080322, -1.3506141901016235, 0.9252689480781555, -1.5444037914276123, 0.7032501697540283, 2.1837568283081055, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.043144941329956, -1.745822787284851, 1.3857098817825317, 1.5489814281463623, -0.8016708493232727, -1.892690896987915, -0.014007531106472015, 0.014007531106472015, 0.22716869413852692, -1.3506141901016235, 0.9252689480781555, -1.5444037914276123, 0.7032501697540283, 2.1837568283081055, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.050774335861206, -1.7500190734863281, 1.3891432285308838, 1.5566109418869019, -0.8012893795967102, -1.8930723667144775, -0.013591350987553596, 0.013591350987553596, 0.22755016386508942, -1.3506141901016235, 0.924887478351593, -1.5440223217010498, 0.7032501697540283, 2.1829938888549805, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0584038496017456, -1.7526893615722656, 1.3902876377105713, 1.573395848274231, -0.8016708493232727, -1.896124243736267, -0.011749581433832645, 0.011749581433832645, 0.2290760725736618, -1.3506141901016235, 0.9245060086250305, -1.5444037914276123, 0.7032501697540283, 2.1799421310424805, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0671778917312622, -1.7553597688674927, 1.3910505771636963, 1.5985733270645142, -0.8012893795967102, -1.896124243736267, -0.006840200629085302, 0.006840200629085302, 0.230601966381073, -1.3506141901016235, 0.9245060086250305, -1.5444037914276123, 0.7032501697540283, 2.1784160137176514, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0751888751983643, -1.7572671175003052, 1.3918135166168213, 1.6168841123580933, -0.8005264401435852, -1.896124243736267, -0.00216190074570477, 0.00216190074570477, 0.2317463904619217, -1.3506141901016235, 0.924124538898468, -1.5444037914276123, 0.7032501697540283, 2.1746013164520264, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0790035724639893, -1.7580300569534302, 1.3921949863433838, 1.6294728517532349, -0.8012893795967102, -1.8949798345565796, -0.00023680592130403966, 0.00023680592130403966, 0.23250934481620789, -1.3506141901016235, 0.9237430095672607, -1.5444037914276123, 0.7032501697540283, 2.171931028366089, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0820554494857788, -1.7565041780471802, 1.3925764560699463, 1.645494818687439, -0.80510413646698, -1.8892576694488525, -0.00023680592130403966, 0.00023680592130403966, 0.23250934481620789, -1.350232720375061, 0.9233615398406982, -1.5444037914276123, 0.7032501697540283, 2.1684978008270264, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0851072072982788, -1.737048864364624, 1.3822766542434692, 1.662279725074768, -0.8299000263214111, -1.888113260269165, -0.00023336759477388114, 0.00023336759477388114, 0.230601966381073, -1.347943902015686, 0.9233615398406982, -1.5444037914276123, 0.7036316394805908, 2.165064573287964, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0843442678451538, -1.6927977800369263, 1.3570992946624756, 1.6840238571166992, -0.8203631639480591, -1.888113260269165, -0.00023336759477388114, 0.00023336759477388114, 0.22487983107566833, -1.3426032066345215, 0.9233615398406982, -1.5444037914276123, 0.7032501697540283, 2.1646831035614014, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0763332843780518, -1.6336690187454224, 1.3178073167800903, 1.6996643543243408, -0.813115119934082, -1.88887619972229, -0.00023336759477388114, 0.00023336759477388114, 0.2157244235277176, -1.3330663442611694, 0.9233615398406982, -1.5444037914276123, 0.7028687000274658, 2.1612496376037598, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0667964220046997, -1.566529393196106, 1.272793173789978, 1.7141603231430054, -0.7993820309638977, -1.8980315923690796, -0.00023680592130403966, 0.00023680592130403966, 0.20466163754463196, -1.3204776048660278, 0.9233615398406982, -1.5444037914276123, 0.7017242908477783, 2.1601052284240723, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0496299266815186, -1.495956301689148, 1.2258716821670532, 1.734760046005249, -0.7890821695327759, -1.9117647409439087, -0.00023336759477388114, 0.00023336759477388114, 0.19283588230609894, -1.3048371076583862, 0.9233615398406982, -1.5444037914276123, 0.6979095339775085, 2.1532387733459473, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0233081579208374, -1.425001859664917, 1.1751353740692139, 1.7572671175003052, -0.7887006998062134, -1.9190127849578857, -0.00023336759477388114, 0.00023336759477388114, 0.1806286722421646, -1.2869077920913696, 0.9233615398406982, -1.5463111400604248, 0.697528064250946, 2.145609140396118, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9874494671821594, -1.350995659828186, 1.1224918365478516, 1.7843518257141113, -0.7860303521156311, -1.9235904216766357, -0.00023336759477388114, 0.00023336759477388114, 0.17071031033992767, -1.2659265995025635, 0.9233615398406982, -1.5463111400604248, 0.6956206560134888, 2.133402109146118, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9306095838546753, -1.2747005224227905, 1.0717555284500122, 1.8125810623168945, -0.7871748208999634, -1.9277867078781128, -0.00023336759477388114, 0.00023336759477388114, 0.16079194843769073, -1.2415121793746948, 0.9233615398406982, -1.5451667308807373, 0.6956206560134888, 2.111276388168335, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8581292629241943, -1.19764244556427, 1.0263599157333374, 1.8377584218978882, -0.7902265787124634, -1.9304569959640503, -0.00023680592130403966, 0.00023680592130403966, 0.152399480342865, -1.2148088216781616, 0.9233615398406982, -1.5444037914276123, 0.6952391862869263, 2.0834286212921143, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7616159319877625, -1.119439959526062, 0.9882124066352844, 1.8659876585006714, -0.7902265787124634, -1.9312199354171753, -0.00023336759477388114, 0.00023336759477388114, 0.14400701224803925, -1.1854352951049805, 0.9233615398406982, -1.5440223217010498, 0.6956206560134888, 2.0532920360565186, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6639581918716431, -1.0595483779907227, 0.961509108543396, 1.8812466859817505, -0.7879377603530884, -1.9304569959640503, -0.00023336759477388114, 0.00023336759477388114, 0.13981078565120697, -1.1575875282287598, 0.9233615398406982, -1.5440223217010498, 0.6956206560134888, 2.0265889167785645, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5708781480789185, -1.0133898258209229, 0.9393835067749023, 1.885442852973938, -0.777256429195404, -1.9254977703094482, -0.00023336759477388114, 0.00023336759477388114, 0.13942931592464447, -1.1293584108352661, 0.9229800701141357, -1.5444037914276123, 0.6960021257400513, 2.0052261352539062, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4812313914299011, -0.9805828928947449, 0.9210727214813232, 1.88735032081604, -0.7570382356643677, -1.9178682565689087, -0.00023336759477388114, 0.00023336759477388114, 0.13942931592464447, -1.104943871498108, 0.9222171306610107, -1.5444037914276123, 0.6960021257400513, 1.9815747737884521, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4022659659385681, -0.9576943516731262, 0.9046692848205566, 1.8717098236083984, -0.7299534678459167, -1.9178682565689087, -0.00023336759477388114, 0.00023336759477388114, 0.12912946939468384, -1.0820554494857788, 0.9180209040641785, -1.5436408519744873, 0.698291003704071, 1.956397294998169, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33169299364089966, -0.9428167939186096, 0.8901731967926025, 1.8511101007461548, -0.7024872303009033, -1.9144350290298462, -0.00023336759477388114, 0.00023336759477388114, 0.10776684433221817, -1.0595483779907227, 0.9103913903236389, -1.5444037914276123, 0.7017242908477783, 1.9312199354171753, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.26874953508377075, -0.9344243407249451, 0.8779659867286682, 1.8308918476104736, -0.6784542798995972, -1.9144350290298462, -0.00023336759477388114, 0.00023336759477388114, 0.08030059933662415, -1.0362783670425415, 0.8970397710800171, -1.5440223217010498, 0.7024872303009033, 1.9098572731018066, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22068360447883606, -0.9294651746749878, 0.8669031858444214, 1.811436653137207, -0.6586175560951233, -1.9144350290298462, -0.00023336759477388114, 0.00023336759477388114, 0.048638131469488144, -1.0145342350006104, 0.8802548050880432, -1.5463111400604248, 0.7028687000274658, 1.898413062095642, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17299915850162506, -0.926413357257843, 0.8562218546867371, 1.7950332164764404, -0.6399252414703369, -1.9148164987564087, -0.00023336759477388114, 0.00023336759477388114, 0.01506828423589468, -0.9954604506492615, 0.8607995510101318, -1.5463111400604248, 0.7036316394805908, 1.889639139175415, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13065537810325623, -0.924887478351593, 0.8451590538024902, 1.7748149633407593, -0.6231403350830078, -1.9182498455047607, -0.00023336759477388114, 0.00023336759477388114, -0.018501564860343933, -0.9798199534416199, 0.840962827205658, -1.5455482006072998, 0.7036316394805908, 1.875905990600586, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10128175467252731, -0.924124538898468, 0.8310444951057434, 1.7587929964065552, -0.6067368388175964, -1.9186313152313232, -0.00023336759477388114, 0.00023336759477388114, -0.04711223021149635, -0.969520092010498, 0.8226520419120789, -1.5459296703338623, 0.7047760486602783, 1.8705652952194214, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08144503086805344, -0.924124538898468, 0.813878059387207, 1.7492561340332031, -0.5907148718833923, -1.9201571941375732, -0.00023336759477388114, 0.00023336759477388114, -0.0711451917886734, -0.960746169090271, 0.8089188933372498, -1.5440223217010498, 0.7047760486602783, 1.8568322658538818, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06275273114442825, -0.924124538898468, 0.7955672740936279, 1.742771029472351, -0.5746929049491882, -1.9262608289718628, -0.00023336759477388114, 0.00023336759477388114, -0.09670405089855194, -0.9538795948028564, 0.7990005612373352, -1.5440223217010498, 0.7043945789337158, 1.8495842218399048, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03833829239010811, -0.924124538898468, 0.7776378989219666, 1.738956332206726, -0.5621042251586914, -1.9270237684249878, -0.00023680592130403966, 0.00023680592130403966, -0.12188144028186798, -0.9489204287528992, 0.7913710474967957, -1.5440223217010498, 0.7036316394805908, 1.8442435264587402, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.011635004542768002, -0.924124538898468, 0.7612344622612, 1.735522985458374, -0.5518043637275696, -1.9300755262374878, -0.00023336759477388114, 0.00023336759477388114, -0.14324407279491425, -0.9462500810623169, 0.7848859429359436, -1.5440223217010498, 0.7028687000274658, 1.8381398916244507, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.018120087683200836, -0.924124538898468, 0.7452124953269958, 1.734760046005249, -0.5476081371307373, -1.9300755262374878, -0.00023336759477388114, 0.00023336759477388114, -0.15926603972911835, -0.9447242021560669, 0.7799267768859863, -1.5440223217010498, 0.7032501697540283, 1.8316547870635986, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.043678950518369675, -0.924124538898468, 0.7310978770256042, 1.729800820350647, -0.54112309217453, -1.9300755262374878, -0.00023336759477388114, 0.00023336759477388114, -0.17605096101760864, -0.9439612627029419, 0.7745860815048218, -1.5436408519744873, 0.7028687000274658, 1.8316547870635986, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06389715522527695, -0.924124538898468, 0.7188906669616699, 1.727512001991272, -0.535400927066803, -1.9304569959640503, -0.00023336759477388114, 0.00023336759477388114, -0.19245441257953644, -0.9439612627029419, 0.770008385181427, -1.5444037914276123, 0.7028687000274658, 1.8312733173370361, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08030059933662415, -0.924124538898468, 0.7101167440414429, 1.7263675928115845, -0.5285343527793884, -1.9304569959640503, -0.00023336759477388114, 0.00023336759477388114, -0.20695048570632935, -0.9439612627029419, 0.7650492191314697, -1.5436408519744873, 0.7024872303009033, 1.8316547870635986, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09365224838256836, -0.9237430095672607, 0.7036316394805908, 1.724460244178772, -0.5231937170028687, -1.9308384656906128, -0.00023336759477388114, 0.00023336759477388114, -0.21953918039798737, -0.9439612627029419, 0.7600900530815125, -1.5440223217010498, 0.7021057605743408, 1.8316547870635986, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10090028494596481, -0.924124538898468, 0.698291003704071, 1.7313268184661865, -0.5212863087654114, -1.9373235702514648, -0.00023336759477388114, 0.00023336759477388114, -0.2294575423002243, -0.9439612627029419, 0.7566567659378052, -1.5440223217010498, 0.7021057605743408, 1.8316547870635986, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10662241280078888, -0.9252689480781555, 0.6929503083229065, 1.7469673156738281, -0.5163271427154541, -1.946860432624817, -0.00023336759477388114, 0.00023336759477388114, -0.23899443447589874, -0.9439612627029419, 0.7524605393409729, -1.5440223217010498, 0.7021057605743408, 1.8316547870635986, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11043716967105865, -0.925650417804718, 0.6872282028198242, 1.7633707523345947, -0.5144197940826416, -1.9632638692855835, -0.00023336759477388114, 0.00023336759477388114, -0.24929426610469818, -0.9439612627029419, 0.7490272521972656, -1.5440223217010498, 0.7017242908477783, 1.8316547870635986, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11615930497646332, -0.9279392957687378, 0.6822690367698669, 1.7744334936141968, -0.5109865069389343, -1.9731823205947876, -0.00023680592130403966, 0.00023680592130403966, -0.2584496736526489, -0.9439612627029419, 0.7452124953269958, -1.5440223217010498, 0.7017242908477783, 1.8320363759994507, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12302586436271667, -0.9298466444015503, 0.6792172193527222, 1.7816815376281738, -0.508316159248352, -1.9884413480758667, -0.00023336759477388114, 0.00023336759477388114, -0.26913100481033325, -0.9439612627029419, 0.7433050870895386, -1.5440223217010498, 0.7013428211212158, 1.8347066640853882, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12951095402240753, -0.9317540526390076, 0.6769283413887024, 1.7912184000015259, -0.508316159248352, -2.0017929077148438, -0.00023336759477388114, 0.00023336759477388114, -0.2782863974571228, -0.9439612627029419, 0.7410162687301636, -1.5436408519744873, 0.7001983523368835, 1.8396657705307007, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.13141833245754242, -0.9336614012718201, 0.6754024624824524, 1.7973220348358154, -0.5064088106155396, -2.0090410709381104, -0.00023336759477388114, 0.00023336759477388114, -0.28362706303596497, -0.9439612627029419, 0.7391088604927063, -1.5440223217010498, 0.699053943157196, 1.8396657705307007, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1333257108926773, -0.9359502792358398, 0.6731135845184326, 1.8125810623168945, -0.5064088106155396, -2.0235371589660645, -0.00023336759477388114, 0.00023336759477388114, -0.28934919834136963, -0.9439612627029419, 0.7372015118598938, -1.5440223217010498, 0.6986724734306335, 1.8430991172790527, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1340886503458023, -0.9378576278686523, 0.6696802973747253, 1.8259327411651611, -0.5052643418312073, -2.039940595626831, -0.00023336759477388114, 0.00023336759477388114, -0.2939268946647644, -0.9439612627029419, 0.7368200421333313, -1.5440223217010498, 0.698291003704071, 1.8430991172790527, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1356145590543747, -0.9390020370483398, 0.6658655405044556, 1.8453879356384277, -0.5052643418312073, -2.06282901763916, -0.00023336759477388114, 0.00023336759477388114, -0.2958342730998993, -0.9439612627029419, 0.735675573348999, -1.5440223217010498, 0.6971465349197388, 1.8453879356384277, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1356145590543747, -0.9401465058326721, 0.6624323129653931, 1.8633173704147339, -0.5064088106155396, -2.0796139240264893, -0.00023336759477388114, 0.00023336759477388114, -0.29812315106391907, -0.9439612627029419, 0.7345311641693115, -1.5440223217010498, 0.6967650651931763, 1.8469138145446777, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1356145590543747, -0.9405279755592346, 0.6597619652748108, 1.8778133392333984, -0.506790280342102, -2.095254421234131, -0.00023336759477388114, 0.00023336759477388114, -0.30041199922561646, -0.9439612627029419, 0.733386754989624, -1.5440223217010498, 0.6963835954666138, 1.8469138145446777, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1356145590543747, -0.9409094452857971, 0.6578545570373535, 1.886205792427063, -0.5064088106155396, -2.103646993637085, -0.00023336759477388114, 0.00023336759477388114, -0.30079346895217896, -0.9439612627029419, 0.7314793467521667, -1.5440223217010498, 0.6952391862869263, 1.8472952842712402, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1356145590543747, -0.9424353241920471, 0.655184268951416, 1.8923094272613525, -0.5045014023780823, -2.1078431606292725, -0.00023336759477388114, 0.00023336759477388114, -0.2950713336467743, -0.9439612627029419, 0.727664589881897, -1.5451667308807373, 0.6952391862869263, 1.8472952842712402, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1356145590543747, -0.9485389590263367, 0.6498435735702515, 1.8938353061676025, -0.4968718886375427, -2.11203932762146, -0.00023680592130403966, 0.00023680592130403966, -0.28591591119766235, -0.9439612627029419, 0.7150759100914001, -1.5463111400604248, 0.6887540817260742, 1.8476768732070923, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1356145590543747, -0.9706645011901855, 0.6467918157577515, 1.896124243736267, -0.4873350262641907, -2.1139466762542725, -0.00023336759477388114, 0.00023336759477388114, -0.2798123061656952, -0.9439612627029419, 0.691042959690094, -1.5466926097869873, 0.6754024624824524, 1.8507286310195923, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1356145590543747, -0.9946975111961365, 0.647173285484314, 1.8965057134628296, -0.4804684519767761, -2.114328145980835, -0.00023336759477388114, 0.00023336759477388114, -0.27180132269859314, -0.9439612627029419, 0.6643396615982056, -1.5463111400604248, 0.6609063744544983, 1.8545433282852173, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.135233074426651, -1.0149157047271729, 0.6456473469734192, 1.896124243736267, -0.47665369510650635, -2.1147096157073975, -0.00023336759477388114, 0.00023336759477388114, -0.26722362637519836, -0.9439612627029419, 0.6418325901031494, -1.5440223217010498, 0.6513695120811462, 1.8579766750335693, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1348516047000885, -1.0290303230285645, 0.6376363635063171, 1.894216775894165, -0.4694056510925293, -2.11509108543396, -0.00023336759477388114, 0.00023336759477388114, -0.264934778213501, -0.9439612627029419, 0.6288624405860901, -1.5444037914276123, 0.6437399983406067, 1.8579766750335693, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1329442262649536, -1.0393301248550415, 0.6280995011329651, 1.8869688510894775, -0.46215763688087463, -2.117380142211914, -0.00023336759477388114, 0.00023336759477388114, -0.2595941126346588, -0.9443427324295044, 0.6219958662986755, -1.5440223217010498, 0.6387808322906494, 1.8579766750335693, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12951095402240753, -1.0473411083221436, 0.6197070479393005, 1.8701838254928589, -0.45757991075515747, -2.105172872543335, -0.00023336759477388114, 0.00023336759477388114, -0.2508201599121094, -0.9451056718826294, 0.6166552305221558, -1.5444037914276123, 0.6345845460891724, 1.8579766750335693, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12340734153985977, -1.053444743156433, 0.6109330654144287, 1.8545433282852173, -0.4545281231403351, -2.097543239593506, -0.00023680592130403966, 0.00023680592130403966, -0.24319066107273102, -0.951209306716919, 0.612840473651886, -1.5444037914276123, 0.6303883194923401, 1.8579766750335693, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11768520623445511, -1.056496500968933, 0.6040665507316589, 1.8408102989196777, -0.4549095928668976, -2.0925841331481934, -0.00023336759477388114, 0.00023336759477388114, -0.23594263195991516, -0.9580758213996887, 0.6113145351409912, -1.5444037914276123, 0.6277180314064026, 1.8671320676803589, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11539635062217712, -1.0584038496017456, 0.6013962030410767, 1.8305103778839111, -0.465209424495697, -2.0902953147888184, -0.0010939055355265737, 0.0010939055355265737, -0.2313649207353592, -0.9618905782699585, 0.6105515956878662, -1.5444037914276123, 0.6254291534423828, 1.873617172241211, -0.005091673694550991, 0.005091673694550991], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11234454810619354, -1.0584038496017456, 0.6109330654144287, 1.820210576057434, -0.49420157074928284, -2.0872435569763184, -0.007872534915804863, 0.007872534915804863, -0.2313649207353592, -0.9637979865074158, 0.612840473651886, -1.5463111400604248, 0.6246662139892578, 1.884679913520813, -0.01895715668797493, 0.01895715668797493], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10776684433221817, -1.0496299266815186, 0.6239032745361328, 1.813725471496582, -0.5277714133262634, -2.086862087249756, -0.01125059463083744, 0.01125059463083744, -0.22602425515651703, -0.9637979865074158, 0.620088517665863, -1.5466926097869873, 0.6239032745361328, 1.8930723667144775, -0.02210366167128086, 0.02210366167128086], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09861142933368683, -1.0236896276474, 0.6338216066360474, 1.810673713684082, -0.5506599545478821, -2.0819027423858643, -0.016328606754541397, 0.016328606754541397, -0.20885786414146423, -0.9603646993637085, 0.6322957277297974, -1.5455482006072998, 0.6242847442626953, 1.8957427740097046, -0.022113626822829247, 0.022113626822829247], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08449683338403702, -0.9878309369087219, 0.6475547552108765, 1.797703504562378, -0.568970799446106, -2.0616846084594727, -0.017124302685260773, 0.017124302685260773, -0.18558785319328308, -0.9531166553497314, 0.647173285484314, -1.5440223217010498, 0.6246662139892578, 1.8972686529159546, -0.022113626822829247, 0.022113626822829247], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06618601083755493, -0.9554055333137512, 0.6696802973747253, 1.7637522220611572, -0.5930037498474121, -2.017814874649048, -0.016950946301221848, 0.016950946301221848, -0.1501106321811676, -0.9340428709983826, 0.6593804955482483, -1.5440223217010498, 0.6250476837158203, 1.897650122642517, -0.02210366167128086, 0.02210366167128086], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04100862145423889, -0.9229800701141357, 0.6883726119995117, 1.6905088424682617, -0.6158922910690308, -1.9312199354171753, -0.002683818805962801, 0.002683818805962801, -0.09288929402828217, -0.9065766334533691, 0.6662470698356628, -1.5459296703338623, 0.6284809708595276, 1.8633173704147339, -0.007714152801781893, 0.007714152801781893], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.002861066721379757, -0.8844510316848755, 0.693331778049469, 1.5939955711364746, -0.6326771974563599, -1.800755262374878, -0.0, 0.0, -0.00667582219466567, -0.8783474564552307, 0.6696802973747253, -1.5451667308807373, 0.647173285484314, 1.7732890844345093, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08297093212604523, -0.8302815556526184, 0.6841763854026794, 1.516937494277954, -0.6406881809234619, -1.659609317779541, -0.0, 0.0, 0.0883115902543068, -0.8504997491836548, 0.6692988276481628, -1.5436408519744873, 0.6845578551292419, 1.6741054058074951, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17948424816131592, -0.7639048099517822, 0.6589990258216858, 1.4745937585830688, -0.6258106231689453, -1.5455482006072998, -0.0, 0.0, 0.1672770231962204, -0.8012893795967102, 0.654421329498291, -1.5436408519744873, 0.7158388495445251, 1.6062028408050537, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28973066806793213, -0.6734950542449951, 0.6105515956878662, 1.4490348100662231, -0.5563820600509644, -1.4490348100662231, -0.0, 0.0, 0.22449836134910583, -0.728427529335022, 0.6319142580032349, -1.5440223217010498, 0.726138710975647, 1.567292332649231, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3751811981201172, -0.5830853581428528, 0.5540932416915894, 1.436446189880371, -0.46139466762542725, -1.3960098028182983, -0.0, 0.0, 0.2759975492954254, -0.6246662139892578, 0.5945296287536621, -1.5459296703338623, 0.7158388495445251, 1.5444037914276123, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4491874575614929, -0.4892423748970032, 0.49153125286102295, 1.4238574504852295, -0.3603036403656006, -1.361295461654663, -0.0, 0.0, 0.3404669165611267, -0.49229419231414795, 0.5331120491027832, -1.5451667308807373, 0.6719691753387451, 1.5337224006652832, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5056458115577698, -0.404936283826828, 0.4358358085155487, 1.4063096046447754, -0.27180132269859314, -1.346799373626709, -0.0, 0.0, 0.4217212200164795, -0.3545815348625183, 0.45986875891685486, -1.5451667308807373, 0.6033035516738892, 1.5337224006652832, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5617227554321289, -0.33093002438545227, 0.3858625292778015, 1.3818951845169067, -0.19169145822525024, -1.3361181020736694, -0.0, 0.0, 0.5281528830528259, -0.20656901597976685, 0.36793315410614014, -1.5436408519744873, 0.5014495849609375, 1.5566109418869019, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6227588057518005, -0.2756160795688629, 0.34771496057510376, 1.3681620359420776, -0.11615930497646332, -1.333447813987732, -0.0, 0.0, 0.6284809708595276, -0.08525978773832321, 0.2775234580039978, -1.5440223217010498, 0.39616236090660095, 1.579880952835083, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6845578551292419, -0.24166475236415863, 0.325970858335495, 1.3673990964889526, -0.059319447726011276, -1.3300144672393799, -0.0, 0.0, 0.7021057605743408, -0.0036240178160369396, 0.19092851877212524, -1.5436408519744873, 0.2801937758922577, 1.6168841123580933, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7379644513130188, -0.22297245264053345, 0.31719690561294556, 1.3681620359420776, -0.026512550190091133, -1.3277256488800049, -0.0, 0.0, 0.7566567659378052, 0.040245670825242996, 0.1199740618467331, -1.5440223217010498, 0.1668955534696579, 1.6424429416656494, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7841230034828186, -0.20771344006061554, 0.31643396615982056, 1.3689249753952026, -0.006294346414506435, -1.3265812397003174, -0.0, 0.0, 0.7795453071594238, 0.06313420087099075, 0.06961929053068161, -1.5440223217010498, 0.08525978773832321, 1.6618982553482056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8093003630638123, -0.19245441257953644, 0.31986725330352783, 1.3696879148483276, 0.004386968910694122, -1.3265812397003174, -0.0, 0.0, 0.7906080484390259, 0.07572289556264877, 0.03528648987412453, -1.5440223217010498, 0.02689402550458908, 1.6760128736495972, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8241779208183289, -0.17261768877506256, 0.32101166248321533, 1.3719768524169922, 0.01125352829694748, -1.3288700580596924, -0.0, 0.0, 0.8039597272872925, 0.07763027399778366, 0.0009536888683214784, -1.5440223217010498, -0.02079041674733162, 1.6828793287277222, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8302815556526184, -0.14324407279491425, 0.3130006790161133, 1.3719768524169922, 0.015449759550392628, -1.3338292837142944, -0.0, 0.0, 0.8287556171417236, 0.07801175117492676, -0.018501564860343933, -1.5459296703338623, -0.06160829961299896, 1.6611353158950806, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8348592519760132, -0.10051880776882172, 0.28553444147109985, 1.3715953826904297, 0.031090257689356804, -1.334210753440857, -0.0, 0.0, 0.8554589152336121, 0.07801175117492676, -0.029182879254221916, -1.5463111400604248, -0.08030059933662415, 1.6287097930908203, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8352407217025757, -0.048638131469488144, 0.23670557141304016, 1.3632028102874756, 0.06198977679014206, -1.3403143882751465, -0.0, 0.0, 0.8703364729881287, 0.07801175117492676, -0.03452353551983833, -1.5463111400604248, -0.09174486994743347, 1.6073472499847412, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8371480703353882, -0.004005493130534887, 0.17833982408046722, 1.352521538734436, 0.08564125746488571, -1.359006643295288, -0.0, 0.0, 0.8783474564552307, 0.07801175117492676, -0.03757534176111221, -1.5459296703338623, -0.10013733059167862, 1.5955214500427246, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8371480703353882, 0.022697795182466507, 0.12188144028186798, 1.3506141901016235, 0.09327077120542526, -1.3700693845748901, -0.0, 0.0, 0.8821622133255005, 0.07801175117492676, -0.0394827201962471, -1.5455482006072998, -0.10471503436565399, 1.587891936302185, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8421072959899902, 0.03757534176111221, 0.07381551712751389, 1.350995659828186, 0.09784847497940063, -1.3803693056106567, -0.0, 0.0, 0.8852140307426453, 0.07801175117492676, -0.0398641936480999, -1.5444037914276123, -0.10585946589708328, 1.5844587087631226, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8497368097305298, 0.04482337832450867, 0.03681239113211632, 1.3536659479141235, 0.10547798871994019, -1.3868544101715088, -0.0, 0.0, 0.8867399096488953, 0.07801175117492676, -0.0398641936480999, -1.5440223217010498, -0.10624094307422638, 1.58255136013031, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8623254895210266, 0.049782559275627136, 0.008201723918318748, 1.3624398708343506, 0.11310750246047974, -1.3895246982574463, -0.0, 0.0, 0.8882657885551453, 0.07801175117492676, -0.0398641936480999, -1.5444037914276123, -0.10891126841306686, 1.580643892288208, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, 0.05092698708176613, -0.01506828423589468, 1.3803693056106567, 0.11577782779932022, -1.3918135166168213, -0.0, 0.0, 0.8871213793754578, 0.07801175117492676, -0.0398641936480999, -1.5444037914276123, -0.10929274559020996, 1.5802624225616455, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9027618765830994, 0.04444190114736557, -0.03376058489084244, 1.4223315715789795, 0.12607766687870026, -1.3998245000839233, -0.0, 0.0, 0.8871213793754578, 0.07801175117492676, -0.0398641936480999, -1.5444037914276123, -0.10929274559020996, 1.579118013381958, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9233615398406982, 0.03681239113211632, -0.04177157208323479, 1.4597162008285522, 0.13179980218410492, -1.4070725440979004, -0.0, 0.0, 0.8882657885551453, 0.07801175117492676, -0.0398641936480999, -1.5444037914276123, -0.10929274559020996, 1.577592134475708, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9328984618186951, 0.03185320645570755, -0.04482337832450867, 1.481078863143921, 0.135233074426651, -1.410887360572815, -0.0, 0.0, 0.8886472582817078, 0.07801175117492676, -0.0398641936480999, -1.5444037914276123, -0.10929274559020996, 1.577592134475708, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9390020370483398, 0.029182879254221916, -0.04711223021149635, 1.4940489530563354, 0.1348516047000885, -1.41317617893219, -0.0, 0.0, 0.8882657885551453, 0.07801175117492676, -0.0398641936480999, -1.5447852611541748, -0.10929274559020996, 1.5779736042022705, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9424353241920471, 0.027656977996230125, -0.04749370738863945, 1.50091552734375, 0.135233074426651, -1.413939118385315, -0.0, 0.0, 0.8863584399223328, 0.07801175117492676, -0.0398641936480999, -1.5447852611541748, -0.10929274559020996, 1.5779736042022705, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9435797929763794, 0.026512550190091133, -0.04749370738863945, 1.5047303438186646, 0.1356145590543747, -1.4150835275650024, -0.0, 0.0, 0.8863584399223328, 0.07801175117492676, -0.0398641936480999, -1.5447852611541748, -0.10891126841306686, 1.578355073928833, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9443427324295044, 0.02536812424659729, -0.04787518084049225, 1.5077821016311646, 0.1359960287809372, -1.416990876197815, -0.0, 0.0, 0.8852140307426453, 0.07801175117492676, -0.0398641936480999, -1.5463111400604248, -0.10891126841306686, 1.5810253620147705, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.02536812424659729, -0.04787518084049225, 1.5085450410842896, 0.1359960287809372, -1.416990876197815, -0.0, 0.0, 0.882543683052063, 0.07801175117492676, -0.0398641936480999, -1.5466926097869873, -0.10891126841306686, 1.5852216482162476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.02536812424659729, -0.04787518084049225, 1.509689450263977, 0.1363775134086609, -1.416990876197815, -0.0, 0.0, 0.8779659867286682, 0.07801175117492676, -0.0398641936480999, -1.5463111400604248, -0.10891126841306686, 1.5890363454818726, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.02536812424659729, -0.04787518084049225, 1.5108338594436646, 0.1363775134086609, -1.4173723459243774, -0.0, 0.0, 0.8707179427146912, 0.07801175117492676, -0.0398641936480999, -1.5459296703338623, -0.10891126841306686, 1.5978103876113892, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.024986648932099342, -0.04787518084049225, 1.5108338594436646, 0.1363775134086609, -1.418135404586792, -0.0, 0.0, 0.8588922023773193, 0.07801175117492676, -0.0398641936480999, -1.5440223217010498, -0.10891126841306686, 1.6138323545455933, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.02536812424659729, -0.04787518084049225, 1.5108338594436646, 0.1371404528617859, -1.4208056926727295, -0.0, 0.0, 0.8447775840759277, 0.07801175117492676, -0.040245670825242996, -1.5444037914276123, -0.10891126841306686, 1.6313802003860474, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.02536812424659729, -0.04787518084049225, 1.5108338594436646, 0.13790340721607208, -1.4208056926727295, -0.0, 0.0, 0.8337147831916809, 0.07801175117492676, -0.040245670825242996, -1.5444037914276123, -0.10891126841306686, 1.6458762884140015, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.02536812424659729, -0.04787518084049225, 1.5108338594436646, 0.13790340721607208, -1.4208056926727295, -0.0, 0.0, 0.8287556171417236, 0.07801175117492676, -0.040245670825242996, -1.5444037914276123, -0.10891126841306686, 1.6531243324279785, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.02536812424659729, -0.04787518084049225, 1.5108338594436646, 0.1367589831352234, -1.4208056926727295, -0.0, 0.0, 0.8268482685089111, 0.07801175117492676, -0.040245670825242996, -1.5444037914276123, -0.10891126841306686, 1.6599907875061035, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.02536812424659729, -0.04787518084049225, 1.5108338594436646, 0.1359960287809372, -1.421950101852417, -0.0, 0.0, 0.8241779208183289, 0.07801175117492676, -0.040245670825242996, -1.5444037914276123, -0.10891126841306686, 1.6611353158950806, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.02536812424659729, -0.049782559275627136, 1.510452389717102, 0.13752193748950958, -1.429961085319519, -0.0, 0.0, 0.8234149813652039, 0.07801175117492676, -0.040245670825242996, -1.5444037914276123, -0.10891126841306686, 1.664568543434143, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.02994582988321781, -0.05283436179161072, 1.5108338594436646, 0.13981078565120697, -1.4326313734054565, -0.0, 0.0, 0.8230335116386414, 0.07801175117492676, -0.040245670825242996, -1.5444037914276123, -0.10891126841306686, 1.664568543434143, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.0398641936480999, -0.058175019919872284, 1.511215329170227, 0.14438849687576294, -1.4333943128585815, -0.0, 0.0, 0.8230335116386414, 0.07801175117492676, -0.040245670825242996, -1.5444037914276123, -0.10891126841306686, 1.6649500131607056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.058175019919872284, -0.06656748056411743, 1.512359857559204, 0.1497291475534439, -1.437209129333496, -0.0, 0.0, 0.8230335116386414, 0.07801175117492676, -0.040245670825242996, -1.5447852611541748, -0.10891126841306686, 1.6672388315200806, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.06923781335353851, -0.0715266615152359, 1.515411615371704, 0.1512550562620163, -1.4406423568725586, -0.0, 0.0, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5447852611541748, -0.10891126841306686, 1.666857361793518, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, 0.07610437273979187, -0.07419699430465698, 1.515411615371704, 0.15392538905143738, -1.4436942338943481, -0.0, 0.0, 0.8230335116386414, 0.07801175117492676, -0.040627144277095795, -1.5447852611541748, -0.10891126841306686, 1.666857361793518, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9458686113357544, 0.07839322835206985, -0.07495994865894318, 1.515411615371704, 0.15392538905143738, -1.4444571733474731, -0.0, 0.0, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5447852611541748, -0.10891126841306686, 1.666857361793518, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9451056718826294, 0.08106355369091034, -0.07495994865894318, 1.515411615371704, 0.15392538905143738, -1.4471274614334106, -0.0, 0.0, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5447852611541748, -0.10891126841306686, 1.666857361793518, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9435797929763794, 0.08144503086805344, -0.07495994865894318, 1.515411615371704, 0.15354390442371368, -1.4471274614334106, -4.421240373631008e-05, 4.421240373631008e-05, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5447852611541748, -0.10891126841306686, 1.6664758920669556, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9435797929763794, 0.08144503086805344, -0.07495994865894318, 1.515411615371704, 0.15316243469715118, -1.4471274614334106, -0.00034095399314537644, 0.00034095399314537644, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5455482006072998, -0.10891126841306686, 1.666094422340393, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9431982636451721, 0.08182650804519653, -0.07495994865894318, 1.5150301456451416, 0.1527809500694275, -1.4475089311599731, -0.0002127825136994943, 0.0002127825136994943, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5463111400604248, -0.10929274559020996, 1.6657129526138306, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9431982636451721, 0.08182650804519653, -0.07534141838550568, 1.514648675918579, 0.1520180106163025, -1.4475089311599731, -0.0002127825136994943, 0.0002127825136994943, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5463111400604248, -0.10891126841306686, 1.664568543434143, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9428167939186096, 0.08182650804519653, -0.07495994865894318, 1.511215329170227, 0.1516365259885788, -1.4475089311599731, -0.0002127825136994943, 0.0002127825136994943, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5463111400604248, -0.10891126841306686, 1.664568543434143, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5100709199905396, 0.1520180106163025, -1.4475089311599731, -0.0002127825136994943, 0.0002127825136994943, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5459296703338623, -0.10891126841306686, 1.664568543434143, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5077821016311646, 0.1520180106163025, -1.4478904008865356, -0.0002127825136994943, 0.0002127825136994943, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5455482006072998, -0.10891126841306686, 1.664568543434143, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.507400631904602, 0.1520180106163025, -1.4478904008865356, -0.0002127825136994943, 0.0002127825136994943, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5440223217010498, -0.10929274559020996, 1.664568543434143, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07534141838550568, 1.507400631904602, 0.152399480342865, -1.4478904008865356, -0.0002127825136994943, 0.0002127825136994943, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5440223217010498, -0.10929274559020996, 1.6649500131607056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5070191621780396, 0.1527809500694275, -1.4478904008865356, -0.0002127825136994943, 0.0002127825136994943, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5444037914276123, -0.10929274559020996, 1.6649500131607056, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.506637692451477, 0.1527809500694275, -1.4478904008865356, -0.0002127825136994943, 0.0002127825136994943, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5444037914276123, -0.10891126841306686, 1.665331482887268, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5039674043655396, 0.1527809500694275, -1.4482718706130981, -0.0002127825136994943, 0.0002127825136994943, 0.8234149813652039, 0.07801175117492676, -0.040627144277095795, -1.5444037914276123, -0.10929274559020996, 1.666857361793518, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07534141838550568, 1.5039674043655396, 0.15316243469715118, -1.4482718706130981, -0.0002127825136994943, 0.0002127825136994943, 0.8230335116386414, 0.07801175117492676, -0.040627144277095795, -1.5444037914276123, -0.10891126841306686, 1.666857361793518, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5039674043655396, 0.15316243469715118, -1.4482718706130981, -0.0002127825136994943, 0.0002127825136994943, 0.8226520419120789, 0.07801175117492676, -0.040627144277095795, -1.5444037914276123, -0.10929274559020996, 1.6664758920669556, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5039674043655396, 0.1527809500694275, -1.4482718706130981, -0.0002127825136994943, 0.0002127825136994943, 0.8199816942214966, 0.07801175117492676, -0.04139009863138199, -1.5444037914276123, -0.10929274559020996, 1.6664758920669556, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.504348874092102, 0.15316243469715118, -1.4482718706130981, -0.0002127825136994943, 0.0002127825136994943, 0.8165484070777893, 0.07801175117492676, -0.042153049260377884, -1.5447852611541748, -0.11196307092905045, 1.6664758920669556, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.504348874092102, 0.1527809500694275, -1.4482718706130981, -0.0002127825136994943, 0.0002127825136994943, 0.812352180480957, 0.07801175117492676, -0.046730753034353256, -1.5447852611541748, -0.11387044936418533, 1.663805603981018, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.504348874092102, 0.1527809500694275, -1.4482718706130981, -0.0002127825136994943, 0.0002127825136994943, 0.812352180480957, 0.08373387902975082, -0.05245288833975792, -1.5463111400604248, -0.12264438718557358, 1.6584649085998535, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.504348874092102, 0.1527809500694275, -1.4482718706130981, -0.0002127825136994943, 0.0002127825136994943, 0.8134965896606445, 0.09899290651082993, -0.05970092490315437, -1.5466926097869873, -0.12760357558727264, 1.6481651067733765, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.504348874092102, 0.15316243469715118, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8173113465309143, 0.11425192654132843, -0.06656748056411743, -1.5463111400604248, -0.12874799966812134, 1.639009714126587, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.504348874092102, 0.1527809500694275, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8203631639480591, 0.12302586436271667, -0.06923781335353851, -1.5463111400604248, -0.13218127191066742, 1.6302357912063599, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.504348874092102, 0.1527809500694275, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8226520419120789, 0.12722209095954895, -0.0707637146115303, -1.5463111400604248, -0.13179980218410492, 1.6290913820266724, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5039674043655396, 0.1527809500694275, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8230335116386414, 0.12912946939468384, -0.0715266615152359, -1.5459296703338623, -0.1329442262649536, 1.6248950958251953, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5039674043655396, 0.1527809500694275, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8241779208183289, 0.13103684782981873, -0.071908138692379, -1.5455482006072998, -0.1329442262649536, 1.6245136260986328, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5039674043655396, 0.1527809500694275, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8245593905448914, 0.13103684782981873, -0.071908138692379, -1.5440223217010498, -0.1329442262649536, 1.6226062774658203, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5039674043655396, 0.15316243469715118, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8249408602714539, 0.13103684782981873, -0.071908138692379, -1.5440223217010498, -0.1325627565383911, 1.6226062774658203, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5039674043655396, 0.1527809500694275, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8253223299980164, 0.13103684782981873, -0.071908138692379, -1.5440223217010498, -0.1325627565383911, 1.6226062774658203, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5035858154296875, 0.15316243469715118, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8253223299980164, 0.13103684782981873, -0.071908138692379, -1.5440223217010498, -0.13218127191066742, 1.6226062774658203, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07534141838550568, 1.5035858154296875, 0.15316243469715118, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8253223299980164, 0.13103684782981873, -0.071908138692379, -1.5444037914276123, -0.13179980218410492, 1.6229877471923828, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.5035858154296875, 0.15316243469715118, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8253223299980164, 0.13103684782981873, -0.071908138692379, -1.5444037914276123, -0.13179980218410492, 1.6229877471923828, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07534141838550568, 1.5035858154296875, 0.15316243469715118, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8253223299980164, 0.13103684782981873, -0.071908138692379, -1.5444037914276123, -0.13141833245754242, 1.6233692169189453, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07534141838550568, 1.503204345703125, 0.15316243469715118, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8253223299980164, 0.13103684782981873, -0.071908138692379, -1.5447852611541748, -0.13141833245754242, 1.6237506866455078, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07534141838550568, 1.503204345703125, 0.15316243469715118, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8253223299980164, 0.13103684782981873, -0.071908138692379, -1.5451667308807373, -0.13141833245754242, 1.6248950958251953, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, 0.08182650804519653, -0.07495994865894318, 1.503204345703125, 0.15316243469715118, -1.4486533403396606, -0.0002127825136994943, 0.0002127825136994943, 0.8253223299980164, 0.13103684782981873, -0.071908138692379, -1.5463111400604248, -0.13141833245754242, 1.6256580352783203, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000027/meta.json b/rc-table30-v2__rc-dos-w1/000027/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fec36b809968e71822d3957545687e1ee0469ec3
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000027/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Fold the T-shirts and stack them neatly in the upper-left corner of the table.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 10402,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000027/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000027/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..9d24e4f61d199161625ed7b07ca17ab942e5eae9
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000027/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000027/temporal.json b/rc-table30-v2__rc-dos-w1/000027/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..97aea638c41d439be4ea09c9860147e4c0aa7693
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000027/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8680475950241089, 0.03185320645570755, -0.06466010212898254, 1.5539406538009644, 0.1363775134086609, -1.6290913820266724, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04177157208323479, -0.025749599561095238, -1.6168841123580933, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, 0.03185320645570755, -0.06466010212898254, 1.5539406538009644, 0.1363775134086609, -1.6290913820266724, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04177157208323479, -0.025749599561095238, -1.6165026426315308, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, 0.03185320645570755, -0.06466010212898254, 1.5535591840744019, 0.1363775134086609, -1.6290913820266724, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04177157208323479, -0.025749599561095238, -1.6165026426315308, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, 0.03185320645570755, -0.06466010212898254, 1.5539406538009644, 0.1363775134086609, -1.6290913820266724, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04177157208323479, -0.025749599561095238, -1.6165026426315308, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8680475950241089, 0.03185320645570755, -0.06466010212898254, 1.5539406538009644, 0.1363775134086609, -1.6290913820266724, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04177157208323479, -0.025749599561095238, -1.6165026426315308, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, 0.03185320645570755, -0.06466010212898254, 1.5539406538009644, 0.1363775134086609, -1.6290913820266724, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04177157208323479, -0.025749599561095238, -1.6168841123580933, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8680475950241089, 0.03185320645570755, -0.06466010212898254, 1.5539406538009644, 0.1363775134086609, -1.6290913820266724, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04177157208323479, -0.025749599561095238, -1.6165026426315308, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, 0.03185320645570755, -0.06466010212898254, 1.5539406538009644, 0.1363775134086609, -1.6290913820266724, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04177157208323479, -0.025749599561095238, -1.6165026426315308, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8680475950241089, 0.03185320645570755, -0.06466010212898254, 1.5539406538009644, 0.1363775134086609, -1.6290913820266724, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04177157208323479, -0.025749599561095238, -1.6165026426315308, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8680475950241089, 0.03185320645570755, -0.06466010212898254, 1.5539406538009644, 0.1363775134086609, -1.6290913820266724, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04177157208323479, -0.025749599561095238, -1.6165026426315308, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, 0.03185320645570755, -0.06466010212898254, 1.5539406538009644, 0.1363775134086609, -1.6290913820266724, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04177157208323479, -0.025749599561095238, -1.6165026426315308, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, 0.031090257689356804, -0.06427863240242004, 1.5539406538009644, 0.1363775134086609, -1.6287097930908203, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04253452271223068, -0.025749599561095238, -1.6165026426315308, -0.10051880776882172, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, 0.02689402550458908, -0.056267641484737396, 1.5539406538009644, 0.13027389347553253, -1.6294728517532349, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.04253452271223068, -0.025749599561095238, -1.6165026426315308, -0.10090028494596481, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, 0.012397955171763897, -0.013542382046580315, 1.5535591840744019, 0.08564125746488571, -1.6359578371047974, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.042153049260377884, -0.025749599561095238, -1.6165026426315308, -0.10013733059167862, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, -0.030708782374858856, 0.08220797777175903, 1.5535591840744019, -0.038719769567251205, -1.6336690187454224, -0.00015487478231079876, 0.00015487478231079876, 0.9401465058326721, -0.042153049260377884, -0.025749599561095238, -1.6165026426315308, -0.09861142933368683, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8680475950241089, -0.11730372905731201, 0.20923933386802673, 1.5535591840744019, -0.21915769577026367, -1.560044288635254, -0.00015487478231079876, 0.00015487478231079876, 0.9397650361061096, -0.042153049260377884, -0.025749599561095238, -1.6165026426315308, -0.09708552807569504, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8672846555709839, -0.25196459889411926, 0.34962233901023865, 1.5535591840744019, -0.4171435236930847, -1.41470205783844, -0.00015487478231079876, 0.00015487478231079876, 0.9397650361061096, -0.042153049260377884, -0.025749599561095238, -1.6165026426315308, -0.09555962681770325, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8455405235290527, -0.42591744661331177, 0.4972533881664276, 1.5508888959884644, -0.5861371755599976, -1.2499046325683594, -0.00015487478231079876, 0.00015487478231079876, 0.9397650361061096, -0.042153049260377884, -0.025749599561095238, -1.6165026426315308, -0.09517814964056015, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8009079098701477, -0.6055924296379089, 0.6475547552108765, 1.5512703657150269, -0.7013428211212158, -1.1079957485198975, -0.00015487478231079876, 0.00015487478231079876, 0.9397650361061096, -0.04177157208323479, -0.025749599561095238, -1.6161211729049683, -0.09517814964056015, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7452124953269958, -0.7963302135467529, 0.8081559538841248, 1.5516518354415894, -0.7997635006904602, -0.9954604506492615, -0.00015487478231079876, 0.00015487478231079876, 0.9397650361061096, -0.040245670825242996, -0.025749599561095238, -1.6161211729049683, -0.09479667246341705, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.691042959690094, -0.9824903011322021, 0.9718089699745178, 1.5512703657150269, -0.8791103959083557, -0.916113555431366, -0.00015487478231079876, 0.00015487478231079876, 0.9397650361061096, -0.038719769567251205, -0.025749599561095238, -1.6161211729049683, -0.09441519528627396, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6162737607955933, -1.1480506658554077, 1.1278324127197266, 1.486419439315796, -0.9431982636451721, -0.8363851308822632, -0.00015487478231079876, 0.00015487478231079876, 0.9397650361061096, -0.038719769567251205, -0.025749599561095238, -1.6157397031784058, -0.09441519528627396, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -1.278515338897705, 1.2525749206542969, 1.3624398708343506, -0.9992752075195312, -0.7623788714408875, -0.00015487478231079876, 0.00015487478231079876, 0.9397650361061096, -0.038719769567251205, -0.025749599561095238, -1.6157397031784058, -0.09403372555971146, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47856107354164124, -1.3757915496826172, 1.3391698598861694, 1.3075073957443237, -1.0217822790145874, -0.7024872303009033, -0.001959156710654497, 0.001959156710654497, 0.9397650361061096, -0.0398641936480999, -0.025749599561095238, -1.6157397031784058, -0.09403372555971146, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4499503970146179, -1.436446189880371, 1.3788433074951172, 1.3151369094848633, -1.0118639469146729, -0.6467918157577515, -0.01584465056657791, 0.01584465056657791, 0.9397650361061096, -0.040245670825242996, -0.025749599561095238, -1.6153582334518433, -0.09365224838256836, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4350728690624237, -1.4787899255752563, 1.4002059698104858, 1.3269627094268799, -0.9912642240524292, -0.5872815847396851, -0.01656726375222206, 0.01656726375222206, 0.9397650361061096, -0.0398641936480999, -0.025749599561095238, -1.6153582334518433, -0.09365224838256836, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42706188559532166, -1.514648675918579, 1.412413239479065, 1.335736632347107, -0.9748607873916626, -0.5376898050308228, -0.017559492960572243, 0.017559492960572243, 0.9397650361061096, -0.040245670825242996, -0.025749599561095238, -1.6149767637252808, -0.09327077120542526, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4228656589984894, -1.5478370189666748, 1.4253833293914795, 1.3391698598861694, -0.9569314122200012, -0.5045014023780823, -0.017549794167280197, 0.017549794167280197, 0.9397650361061096, -0.0398641936480999, -0.025749599561095238, -1.6126878261566162, -0.09327077120542526, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4198138415813446, -1.5787365436553955, 1.4383535385131836, 1.3426032066345215, -0.9405279755592346, -0.4839017391204834, -0.017549794167280197, 0.017549794167280197, 0.9397650361061096, -0.040245670825242996, -0.025749599561095238, -1.6123063564300537, -0.09288929402828217, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4175249934196472, -1.6042953729629517, 1.4482718706130981, 1.3513771295547485, -0.9199283123016357, -0.4732204079627991, -0.017549794167280197, 0.017549794167280197, 0.9397650361061096, -0.040245670825242996, -0.025749599561095238, -1.6123063564300537, -0.09288929402828217, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41676202416419983, -1.6279468536376953, 1.4612420797348022, 1.3815137147903442, -0.9027618765830994, -0.4728389382362366, -0.017549794167280197, 0.017549794167280197, 0.9397650361061096, -0.040245670825242996, -0.025749599561095238, -1.6123063564300537, -0.09288929402828217, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41599908471107483, -1.6481651067733765, 1.4734493494033813, 1.406691074371338, -0.8951323628425598, -0.4827573001384735, -0.017549794167280197, 0.017549794167280197, 0.9397650361061096, -0.040245670825242996, -0.025749599561095238, -1.6123063564300537, -0.09288929402828217, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41561761498451233, -1.6641870737075806, 1.4795528650283813, 1.421950101852417, -0.892080545425415, -0.4873350262641907, -0.01748194545507431, 0.01748194545507431, 0.9397650361061096, -0.040245670825242996, -0.025749599561095238, -1.6126878261566162, -0.09288929402828217, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41599908471107483, -1.6737239360809326, 1.483367681503296, 1.428435206413269, -0.8863584399223328, -0.49458304047584534, -0.010465349070727825, 0.010465349070727825, 0.9397650361061096, -0.040245670825242996, -0.025749599561095238, -1.6126878261566162, -0.09288929402828217, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41599908471107483, -1.6794461011886597, 1.4845120906829834, 1.4337759017944336, -0.8859769701957703, -0.5018310546875, -0.0007284058956429362, 0.0007284058956429362, 0.9397650361061096, -0.040245670825242996, -0.025749599561095238, -1.6126878261566162, -0.09327077120542526, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4175249934196472, -1.6817349195480347, 1.4822232723236084, 1.436446189880371, -0.8855955004692078, -0.5201418995857239, -0.0005405859556049109, 0.0005405859556049109, 0.9397650361061096, -0.040245670825242996, -0.025749599561095238, -1.6126878261566162, -0.09288929402828217, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.6802090406417847, 1.4742122888565063, 1.439497947692871, -0.8855955004692078, -0.54264897108078, -0.0005405859556049109, 0.0005405859556049109, 0.9397650361061096, -0.040245670825242996, -0.024986648932099342, -1.6126878261566162, -0.09327077120542526, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.6714351177215576, 1.4608606100082397, 1.439497947692871, -0.8848325610160828, -0.5647745728492737, -0.0005405859556049109, 0.0005405859556049109, 0.9390020370483398, -0.04558632895350456, 0.00019073777366429567, -1.6123063564300537, -0.07610437273979187, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.660753846168518, 1.4459830522537231, 1.439497947692871, -0.8806362748146057, -0.5811780095100403, -0.0005405859556049109, 0.0005405859556049109, 0.9225986003875732, -0.08297093212604523, 0.08602273464202881, -1.6042953729629517, -0.002861066721379757, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.6531243324279785, 1.4368276596069336, 1.439497947692871, -0.8768215179443359, -0.5922408103942871, -0.0005405859556049109, 0.0005405859556049109, 0.8405813574790955, -0.1836804747581482, 0.2317463904619217, -1.589417815208435, 0.14667734503746033, 1.5554665327072144, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.6458762884140015, 1.4280537366867065, 1.439497947692871, -0.8730067610740662, -0.5994887948036194, -0.0005405859556049109, 0.0005405859556049109, 0.7402533292770386, -0.3404669165611267, 0.4072251319885254, -1.5852216482162476, 0.3385595381259918, 1.5405889749526978, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.6424429416656494, 1.421950101852417, 1.4398794174194336, -0.8707179427146912, -0.6010147333145142, -0.0005405859556049109, 0.0005405859556049109, 0.649462103843689, -0.5365453362464905, 0.5922408103942871, -1.576066255569458, 0.5350194573402405, 1.4539940357208252, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.6393911838531494, 1.418135404586792, 1.439497947692871, -0.8688105344772339, -0.6036850810050964, -0.0005405859556049109, 0.0005405859556049109, 0.54264897108078, -0.7513160705566406, 0.7810711860656738, -1.5196079015731812, 0.7425421476364136, 1.3117036819458008, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.6386282444000244, 1.4166094064712524, 1.4398794174194336, -0.8665217161178589, -0.6036850810050964, -0.0005405859556049109, 0.0005405859556049109, 0.4354543387889862, -0.9454871416091919, 0.9466315507888794, -1.4311054944992065, 0.9073395729064941, 1.176279902458191, -0.002722651930525899, 0.002722651930525899], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.6386282444000244, 1.415464997291565, 1.4398794174194336, -0.8607995510101318, -0.6036850810050964, -0.0005405859556049109, 0.0005405859556049109, 0.34657052159309387, -1.1030365228652954, 1.0751888751983643, -1.3742656707763672, 0.9954604506492615, 1.0954070091247559, -0.01691247895359993, 0.01691247895359993], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.639009714126587, 1.4150835275650024, 1.4398794174194336, -0.8535515666007996, -0.6036850810050964, -0.0005405859556049109, 0.0005405859556049109, 0.2767605185508728, -1.2357900142669678, 1.179331660270691, -1.342221736907959, 1.043907880783081, 1.047722578048706, -0.02114720456302166, 0.02114720456302166], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.639772653579712, 1.4150835275650024, 1.4398794174194336, -0.8478294014930725, -0.6029220819473267, -0.0005405859556049109, 0.0005405859556049109, 0.2309834510087967, -1.332684874534607, 1.2537193298339844, -1.3223849534988403, 1.0622186660766602, 1.022926688194275, -0.022093696519732475, 0.022093696519732475], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.641298532485962, 1.4150835275650024, 1.4398794174194336, -0.84592205286026, -0.6017776727676392, -0.0005405859556049109, 0.0005405859556049109, 0.19169145822525024, -1.4135576486587524, 1.3082703351974487, -1.268596887588501, 1.0664149522781372, 0.9897382855415344, -0.022093696519732475, 0.022093696519732475], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642061471939087, 1.4150835275650024, 1.4398794174194336, -0.8424887657165527, -0.5994887948036194, -0.0005405859556049109, 0.0005405859556049109, 0.16384375095367432, -1.4738308191299438, 1.3391698598861694, -1.2090867757797241, 1.0660333633422852, 0.961509108543396, -0.02210366167128086, 0.02210366167128086], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642061471939087, 1.4143205881118774, 1.4398794174194336, -0.841725766658783, -0.5991073250770569, -0.0005405859556049109, 0.0005405859556049109, 0.14744029939174652, -1.5207523107528687, 1.3551918268203735, -1.1747539043426514, 1.0587854385375977, 0.9443427324295044, -0.02210366167128086, 0.02210366167128086], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642061471939087, 1.4135576486587524, 1.4398794174194336, -0.841725766658783, -0.5987258553504944, -0.0005405859556049109, 0.0005405859556049109, 0.14019227027893066, -1.5535591840744019, 1.3639658689498901, -1.1530098915100098, 1.049248456954956, 0.9355688095092773, -0.022093696519732475, 0.022093696519732475], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642061471939087, 1.4135576486587524, 1.4398794174194336, -0.8421072959899902, -0.5956740379333496, -0.0005405859556049109, 0.0005405859556049109, 0.1356145590543747, -1.575303316116333, 1.3685435056686401, -1.1396582126617432, 1.0400930643081665, 0.9294651746749878, -0.02210366167128086, 0.02210366167128086], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642061471939087, 1.4127947092056274, 1.4398794174194336, -0.8424887657165527, -0.5956740379333496, -0.0005405859556049109, 0.0005405859556049109, 0.1325627565383911, -1.589417815208435, 1.3708323240280151, -1.127450942993164, 1.0343708992004395, 0.9260318875312805, -0.022093696519732475, 0.022093696519732475], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.6424429416656494, 1.412413239479065, 1.4398794174194336, -0.8421072959899902, -0.5956740379333496, -0.0005405859556049109, 0.0005405859556049109, 0.13103684782981873, -1.597428798675537, 1.3719768524169922, -1.1095216274261475, 1.031700611114502, 0.9252689480781555, -0.022093696519732475, 0.022093696519732475], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642824411392212, 1.412413239479065, 1.4398794174194336, -0.8424887657165527, -0.5956740379333496, -0.0005405859556049109, 0.0005405859556049109, 0.13103684782981873, -1.6023880243301392, 1.3719768524169922, -1.0824369192123413, 1.034752368927002, 0.9122987985610962, -0.02208373136818409, 0.02208373136818409], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642824411392212, 1.4120317697525024, 1.440260887145996, -0.8424887657165527, -0.5956740379333496, -0.0005405859556049109, 0.0005405859556049109, 0.13218127191066742, -1.6062028408050537, 1.3719768524169922, -1.0568779706954956, 1.0442893505096436, 0.9000915288925171, -0.02208373136818409, 0.02208373136818409], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642824411392212, 1.4112688302993774, 1.440260887145996, -0.8436331748962402, -0.5956740379333496, -0.0005405859556049109, 0.0005405859556049109, 0.1333257108926773, -1.6092545986175537, 1.3719768524169922, -1.042000412940979, 1.0503928661346436, 0.8939879536628723, -0.02208373136818409, 0.02208373136818409], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642824411392212, 1.409742832183838, 1.440260887145996, -0.8447775840759277, -0.5956740379333496, -0.0005405859556049109, 0.0005405859556049109, 0.1337071806192398, -1.6153582334518433, 1.3712139129638672, -1.034752368927002, 1.0591669082641602, 0.8901731967926025, -0.02208373136818409, 0.02208373136818409], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642824411392212, 1.4093613624572754, 1.440260887145996, -0.846684992313385, -0.5956740379333496, -0.0005405859556049109, 0.0005405859556049109, 0.1340886503458023, -1.6203173398971558, 1.3700693845748901, -1.0297932624816895, 1.0660333633422852, 0.8882657885551453, -0.022053835913538933, 0.022053835913538933], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642824411392212, 1.4085984230041504, 1.440260887145996, -0.8478294014930725, -0.5956740379333496, -0.0005405859556049109, 0.0005405859556049109, 0.1340886503458023, -1.6222248077392578, 1.3693064451217651, -1.027885913848877, 1.0698481798171997, 0.8875028491020203, -0.01732708141207695, 0.01732708141207695], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.642824411392212, 1.4063096046447754, 1.440260887145996, -0.8478294014930725, -0.5964370369911194, -0.0005405859556049109, 0.0005405859556049109, 0.1340886503458023, -1.6241321563720703, 1.3677805662155151, -1.0282673835754395, 1.0763332843780518, 0.8848325610160828, -0.007219288498163223, 0.007219288498163223], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.640535593032837, 1.3986800909042358, 1.440260887145996, -0.8478294014930725, -0.6040665507316589, -0.0005405859556049109, 0.0005405859556049109, 0.1340886503458023, -1.6241321563720703, 1.3673990964889526, -1.032463550567627, 1.0843442678451538, 0.8848325610160828, -0.000724667333997786, 0.000724667333997786], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.6290913820266724, 1.3864728212356567, 1.440260887145996, -0.8432517051696777, -0.6265735626220703, -0.0005405859556049109, 0.0005405859556049109, 0.1340886503458023, -1.6184099912643433, 1.3632028102874756, -1.038185715675354, 1.0965514183044434, 0.8848325610160828, -0.0005696660955436528, 0.0005696660955436528], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.5989547967910767, 1.3643473386764526, 1.440260887145996, -0.8237964510917664, -0.6605249047279358, -0.0005405859556049109, 0.0005405859556049109, 0.1340886503458023, -1.5932326316833496, 1.348706841468811, -1.0408560037612915, 1.099603295326233, 0.8848325610160828, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.5447852611541748, 1.3311588764190674, 1.440260887145996, -0.8005264401435852, -0.7024872303009033, -0.0005405859556049109, 0.0005405859556049109, 0.134470134973526, -1.5394445657730103, 1.3101778030395508, -1.043144941329956, 1.0873960256576538, 0.8848325610160828, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.4654383659362793, 1.2819485664367676, 1.4398794174194336, -0.7654306888580322, -0.7505531311035156, -0.0005405859556049109, 0.0005405859556049109, 0.1367589831352234, -1.4536125659942627, 1.2457083463668823, -1.043144941329956, 1.0618371963500977, 0.8848325610160828, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4205767810344696, -1.361295461654663, 1.2163348197937012, 1.439497947692871, -0.7280460596084595, -0.804341197013855, -0.0005405859556049109, 0.0005405859556049109, 0.14095520973205566, -1.332684874534607, 1.1591134071350098, -1.0385671854019165, 1.0217822790145874, 0.8848325610160828, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43202105164527893, -1.2399863004684448, 1.1419470310211182, 1.440260887145996, -0.6963835954666138, -0.8527885675430298, -0.0005405859556049109, 0.0005405859556049109, 0.14400701224803925, -1.1907758712768555, 1.0706111192703247, -1.0271228551864624, 0.9866865277290344, 0.8848325610160828, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.45796138048171997, -1.104943871498108, 1.0709925889968872, 1.4398794174194336, -0.6666285395622253, -0.8916990756988525, -0.0005405859556049109, 0.0005405859556049109, 0.15316243469715118, -1.0343708992004395, 0.9977492690086365, -1.0225452184677124, 0.9664682745933533, 0.8848325610160828, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4999237060546875, -0.970283031463623, 1.0175859928131104, 1.4406423568725586, -0.6490806341171265, -0.9206912517547607, -0.0005405859556049109, 0.0005405859556049109, 0.17948424816131592, -0.8764400482177734, 0.9546425342559814, -1.0168230533599854, 0.9611276388168335, 0.8848325610160828, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5552376508712769, -0.840962827205658, 0.9908827543258667, 1.440260887145996, -0.6410696506500244, -0.9393835067749023, -0.0005405859556049109, 0.0005405859556049109, 0.20733195543289185, -0.734149694442749, 0.9451056718826294, -1.0111008882522583, 0.9786755442619324, 0.8848325610160828, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6055924296379089, -0.7272831201553345, 0.9988937377929688, 1.4398794174194336, -0.6422140598297119, -0.9493018984794617, -0.0005405859556049109, 0.0005405859556049109, 0.21801327168941498, -0.6273365616798401, 0.9767681360244751, -1.0099564790725708, 1.0152971744537354, 0.8894102573394775, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.655947208404541, -0.6380178332328796, 1.0423818826675415, 1.4406423568725586, -0.6509880423545837, -0.9515907764434814, -0.0005405859556049109, 0.0005405859556049109, 0.22640573978424072, -0.5540932416915894, 1.0442893505096436, -1.0114823579788208, 1.0641260147094727, 0.8932250142097473, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7169833183288574, -0.578507661819458, 1.116388201713562, 1.4398794174194336, -0.6712062358856201, -0.9424353241920471, -0.0005405859556049109, 0.0005405859556049109, 0.2309834510087967, -0.5170900821685791, 1.1316472291946411, -0.9981307983398438, 1.10837721824646, 0.8966583013534546, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.777256429195404, -0.5468451976776123, 1.2045090198516846, 1.4398794174194336, -0.6849393248558044, -0.9225986003875732, -0.0005405859556049109, 0.0005405859556049109, 0.23212787508964539, -0.4987792670726776, 1.2434195280075073, -0.9840161800384521, 1.1449989080429077, 0.8997100591659546, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8310444951057434, -0.5323491096496582, 1.2891966104507446, 1.4398794174194336, -0.6994354128837585, -0.8955138325691223, -0.0005405859556049109, 0.0005405859556049109, 0.23479819297790527, -0.49229419231414795, 1.3498512506484985, -0.9710460305213928, 1.1812390089035034, 0.8997100591659546, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, -0.5251010656356812, 1.362821340560913, 1.440260887145996, -0.7063019871711731, -0.8745326995849609, -0.0005405859556049109, 0.0005405859556049109, 0.23517967760562897, -0.49076828360557556, 1.435683250427246, -0.962272047996521, 1.2022202014923096, 0.8997100591659546, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.925650417804718, -0.5243381261825562, 1.424238920211792, 1.439497947692871, -0.7097352743148804, -0.8508812189102173, -0.0005405859556049109, 0.0005405859556049109, 0.23517967760562897, -0.49114975333213806, 1.511215329170227, -0.959220290184021, 1.2159533500671387, 0.8997100591659546, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9664682745933533, -0.5258640646934509, 1.4734493494033813, 1.439497947692871, -0.7124055624008179, -0.8329518437385559, -0.0005405859556049109, 0.0005405859556049109, 0.23556114733219147, -0.49076828360557556, 1.5676738023757935, -0.952735185623169, 1.2235828638076782, 0.8997100591659546, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9905012845993042, -0.5289158225059509, 1.501678466796875, 1.439497947692871, -0.7124055624008179, -0.8180742859840393, -0.0005405859556049109, 0.0005405859556049109, 0.23556114733219147, -0.49114975333213806, 1.6062028408050537, -0.9538795948028564, 1.2293049097061157, 0.8993285894393921, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0027084350585938, -0.5289158225059509, 1.5039674043655396, 1.439497947692871, -0.7143129706382751, -0.8100633025169373, -0.0005405859556049109, 0.0005405859556049109, 0.23556114733219147, -0.49191272258758545, 1.6245136260986328, -0.9767681360244751, 1.2365529537200928, 0.8993285894393921, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0072861909866333, -0.5239566564559937, 1.484130620956421, 1.439497947692871, -0.7173647880554199, -0.8001449704170227, -0.0005405859556049109, 0.0005405859556049109, 0.23517967760562897, -0.4964904189109802, 1.6321431398391724, -1.0187304019927979, 1.2460898160934448, 0.8997100591659546, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0084306001663208, -0.5182345509529114, 1.4456015825271606, 1.439497947692871, -0.7101167440414429, -0.7959487438201904, -0.0005405859556049109, 0.0005405859556049109, 0.23479819297790527, -0.5045014023780823, 1.6344319581985474, -1.0721369981765747, 1.2525749206542969, 0.9077210426330566, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9874494671821594, -0.5144197940826416, 1.3948653936386108, 1.4391164779663086, -0.6960021257400513, -0.7917525172233582, -0.0005405859556049109, 0.0005405859556049109, 0.23479819297790527, -0.5197604298591614, 1.6252765655517578, -1.1167696714401245, 1.2537193298339844, 0.9149690866470337, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9443427324295044, -0.5136567950248718, 1.335736632347107, 1.439497947692871, -0.6776912808418274, -0.7871748208999634, -0.0005405859556049109, 0.0005405859556049109, 0.23479819297790527, -0.5430304408073425, 1.597428798675537, -1.1503394842147827, 1.2537193298339844, 0.9187838435173035, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8802548050880432, -0.5148012638092041, 1.2666895389556885, 1.4398794174194336, -0.6437399983406067, -0.7810711860656738, -0.0005405859556049109, 0.0005405859556049109, 0.23479819297790527, -0.578507661819458, 1.5474555492401123, -1.1720836162567139, 1.2434195280075073, 0.9210727214813232, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8054856061935425, -0.5300602912902832, 1.1854352951049805, 1.440260887145996, -0.5960555672645569, -0.767719566822052, -0.0005405859556049109, 0.0005405859556049109, 0.23479819297790527, -0.6235218048095703, 1.4806973934173584, -1.1926833391189575, 1.2117570638656616, 0.9229800701141357, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7303349375724792, -0.5682078003883362, 1.0976959466934204, 1.4406423568725586, -0.5277714133262634, -0.7448310256004333, -0.0005405859556049109, 0.0005405859556049109, 0.23441672325134277, -0.6834134459495544, 1.4135576486587524, -1.2125200033187866, 1.1572060585021973, 0.9233615398406982, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6548027992248535, -0.6380178332328796, 1.0225452184677124, 1.4406423568725586, -0.4381246566772461, -0.7173647880554199, -0.0005405859556049109, 0.0005405859556049109, 0.23403525352478027, -0.7642862796783447, 1.3624398708343506, -1.2247272729873657, 1.0999847650527954, 0.9260318875312805, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6002517938613892, -0.7303349375724792, 0.9763866662979126, 1.4433127641677856, -0.3706035017967224, -0.700579822063446, -0.0005405859556049109, 0.0005405859556049109, 0.23403525352478027, -0.8623254895210266, 1.3277256488800049, -1.2312123775482178, 1.0481040477752686, 0.9260318875312805, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5529488325119019, -0.8421072959899902, 0.9493018984794617, 1.4421683549880981, -0.2786678969860077, -0.6879911422729492, -0.0005405859556049109, 0.0005405859556049109, 0.23403525352478027, -0.9653238654136658, 1.3094148635864258, -1.2346456050872803, 0.9882124066352844, 0.9260318875312805, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5163271427154541, -0.9435797929763794, 0.9462500810623169, 1.441023826599121, -0.20733195543289185, -0.6834134459495544, -0.0005405859556049109, 0.0005405859556049109, 0.23403525352478027, -1.0603113174438477, 1.3006408214569092, -1.2415121793746948, 0.9134432077407837, 0.9260318875312805, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.482375830411911, -1.0423818826675415, 0.9576943516731262, 1.440260887145996, -0.1497291475534439, -0.6799801588058472, -0.0005405859556049109, 0.0005405859556049109, 0.23403525352478027, -1.1480506658554077, 1.3025482892990112, -1.2426565885543823, 0.8329518437385559, 0.9260318875312805, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4552910625934601, -1.123636245727539, 0.9851605892181396, 1.440260887145996, -0.10509651154279709, -0.6807430982589722, -0.0005405859556049109, 0.0005405859556049109, 0.23403525352478027, -1.2346456050872803, 1.3246738910675049, -1.2457083463668823, 0.7719157934188843, 0.925650417804718, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4350728690624237, -1.19764244556427, 1.0206378698349, 1.440260887145996, -0.08449683338403702, -0.6879911422729492, -0.0005405859556049109, 0.0005405859556049109, 0.23403525352478027, -1.3250553607940674, 1.3632028102874756, -1.2460898160934448, 0.7291905283927917, 0.925650417804718, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4217212200164795, -1.268596887588501, 1.0606927871704102, 1.4398794174194336, -0.06847485899925232, -0.6960021257400513, -0.0005405859556049109, 0.0005405859556049109, 0.23403525352478027, -1.407454013824463, 1.4101243019104004, -1.2460898160934448, 0.7013428211212158, 0.925650417804718, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41256579756736755, -1.3418402671813965, 1.1022735834121704, 1.440260887145996, -0.06160829961299896, -0.7040131092071533, -0.0005405859556049109, 0.0005405859556049109, 0.23403525352478027, -1.4814603328704834, 1.4532310962677002, -1.2460898160934448, 0.6792172193527222, 0.9252689480781555, -0.0005660232855007052, 0.0005660232855007052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4026474356651306, -1.4246203899383545, 1.1491950750350952, 1.440260887145996, -0.05245288833975792, -0.7112611532211304, -0.0008874588529579341, 0.0008874588529579341, 0.23403525352478027, -1.563096046447754, 1.5020599365234375, -1.2457083463668823, 0.6509880423545837, 0.925650417804718, -0.0005769581766799092, 0.0005769581766799092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3866254687309265, -1.5173189640045166, 1.2083238363265991, 1.4398794174194336, -0.04596780240535736, -0.7391088604927063, -0.01566539704799652, 0.01566539704799652, 0.23403525352478027, -1.647783637046814, 1.5581368207931519, -1.2762264013290405, 0.612077534198761, 0.9851605892181396, -0.011150152422487736, 0.011150152422487736], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3553444743156433, -1.5947585105895996, 1.276607871055603, 1.4398794174194336, -0.08297093212604523, -0.8329518437385559, -0.018878456205129623, 0.018878456205129623, 0.2313649207353592, -1.725223183631897, 1.6206988096237183, -1.341458797454834, 0.6010147333145142, 1.106088399887085, -0.026143822818994522, 0.026143822818994522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.31567102670669556, -1.6329060792922974, 1.3193331956863403, 1.4398794174194336, -0.15735866129398346, -0.9901197552680969, -0.018888290971517563, 0.018888290971517563, 0.22297245264053345, -1.7645151615142822, 1.6561760902404785, -1.3735027313232422, 0.6082627773284912, 1.2121385335922241, -0.026124395430088043, 0.026124395430088043], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2786678969860077, -1.6256580352783203, 1.3220034837722778, 1.440260887145996, -0.23785001039505005, -1.1381323337554932, -0.018878456205129623, 0.018878456205129623, 0.21152819693088531, -1.7748149633407593, 1.6718165874481201, -1.3818951845169067, 0.6540398001670837, 1.280041217803955, -0.02483276091516018, 0.02483276091516018], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25387197732925415, -1.5714884996414185, 1.275081992149353, 1.440260887145996, -0.30079346895217896, -1.2525749206542969, -0.018858788534998894, 0.018858788534998894, 0.1989395022392273, -1.7519264221191406, 1.655031681060791, -1.3818951845169067, 0.7127870321273804, 1.3178073167800903, -0.02399308606982231, 0.02399308606982231], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24090181291103363, -1.484130620956421, 1.188105583190918, 1.440260887145996, -0.3412298858165741, -1.3391698598861694, -0.01628098636865616, 0.01628098636865616, 0.19054703414440155, -1.6901273727416992, 1.591325283050537, -1.3815137147903442, 0.7585641145706177, 1.3384069204330444, -0.02399308606982231, 0.02399308606982231], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23899443447589874, -1.3738842010498047, 1.0709925889968872, 1.4398794174194336, -0.3549630045890808, -1.405928134918213, -0.007678345777094364, 0.007678345777094364, 0.20084688067436218, -1.5985733270645142, 1.487945318222046, -1.3811322450637817, 0.7837415337562561, 1.3353551626205444, -0.0239831805229187, 0.0239831805229187], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25463491678237915, -1.260585904121399, 0.9485389590263367, 1.4398794174194336, -0.35000380873680115, -1.4482718706130981, -8.75326368259266e-05, 8.75326368259266e-05, 0.24929426610469818, -1.5005340576171875, 1.3647288084030151, -1.3811322450637817, 0.80510413646698, 1.269741415977478, -0.0239831805229187, 0.0239831805229187], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2786678969860077, -1.1556801795959473, 0.8440146446228027, 1.4398794174194336, -0.3442816734313965, -1.4757381677627563, -3.426579860388301e-05, 3.426579860388301e-05, 0.32978561520576477, -1.418898344039917, 1.2563897371292114, -1.419661283493042, 0.8196002244949341, 1.2144273519515991, -0.0239831805229187, 0.0239831805229187], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3072785437107086, -1.0648889541625977, 0.7616159319877625, 1.4398794174194336, -0.35229265689849854, -1.4955748319625854, -3.426579860388301e-05, 3.426579860388301e-05, 0.4037918746471405, -1.3746471405029297, 1.1846723556518555, -1.4814603328704834, 0.8272297382354736, 1.1812390089035034, -0.02397327311336994, 0.02397327311336994], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3397039771080017, -0.9901197552680969, 0.6940947771072388, 1.439497947692871, -0.368314653635025, -1.5135042667388916, -3.426579860388301e-05, 3.426579860388301e-05, 0.46025025844573975, -1.3647288084030151, 1.1461433172225952, -1.5409704446792603, 0.8272297382354736, 1.1648355722427368, -0.02397327311336994, 0.02397327311336994], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3603036403656006, -0.9348058104515076, 0.6399252414703369, 1.4398794174194336, -0.37861448526382446, -1.5329594612121582, -3.426579860388301e-05, 3.426579860388301e-05, 0.5014495849609375, -1.3784618377685547, 1.125925064086914, -1.5844587087631226, 0.8211261034011841, 1.1552987098693848, -0.02397327311336994, 0.02397327311336994], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3744182586669922, -0.9016174674034119, 0.6044480204582214, 1.4398794174194336, -0.3854810297489166, -1.5482184886932373, -3.426579860388301e-05, 3.426579860388301e-05, 0.5231937170028687, -1.405928134918213, 1.114862322807312, -1.6184099912643433, 0.8024337887763977, 1.1495765447616577, -0.023943549022078514, 0.023943549022078514], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.38090333342552185, -0.8852140307426453, 0.5838482975959778, 1.439497947692871, -0.3934920132160187, -1.5573738813400269, -3.426579860388301e-05, 3.426579860388301e-05, 0.533875048160553, -1.437209129333496, 1.1095216274261475, -1.654268741607666, 0.7726787328720093, 1.1449989080429077, -0.02391381748020649, 0.02391381748020649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3847180902957916, -0.8760585784912109, 0.572022557258606, 1.4398794174194336, -0.39730677008628845, -1.5634775161743164, -3.426579860388301e-05, 3.426579860388301e-05, 0.543411910533905, -1.4684901237487793, 1.107614278793335, -1.6851682662963867, 0.7391088604927063, 1.1423285007476807, -0.02384442649781704, 0.02384442649781704], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3877699077129364, -0.8714808821678162, 0.5663004517555237, 1.4398794174194336, -0.3995956480503082, -1.5657663345336914, -3.426579860388301e-05, 3.426579860388301e-05, 0.5479896068572998, -1.4955748319625854, 1.107614278793335, -1.7233158349990845, 0.7139315009117126, 1.1419470310211182, -0.022741230204701424, 0.022741230204701424], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3877699077129364, -0.8699550032615662, 0.5636301040649414, 1.4398794174194336, -0.4003585875034332, -1.568818211555481, -3.426579860388301e-05, 3.426579860388301e-05, 0.5476081371307373, -1.513885736465454, 1.107614278793335, -1.7549782991409302, 0.697528064250946, 1.1423285007476807, -0.022053835913538933, 0.022053835913538933], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8718623518943787, 0.5613412857055664, 1.4398794174194336, -0.4011215269565582, -1.5691996812820435, -3.426579860388301e-05, 3.426579860388301e-05, 0.5498970150947571, -1.5260928869247437, 1.107614278793335, -1.7771037817001343, 0.6742580533027649, 1.1423285007476807, -0.021455954760313034, 0.021455954760313034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8733882904052734, 0.5594338774681091, 1.4398794174194336, -0.4011215269565582, -1.5714884996414185, -3.426579860388301e-05, 3.426579860388301e-05, 0.5521858334541321, -1.5352483987808228, 1.107614278793335, -1.7973220348358154, 0.6506065726280212, 1.1419470310211182, -0.021445991471409798, 0.021445991471409798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8733882904052734, 0.5575265288352966, 1.4398794174194336, -0.4018844962120056, -1.5714884996414185, -3.426579860388301e-05, 3.426579860388301e-05, 0.5498970150947571, -1.5440223217010498, 1.107614278793335, -1.8228808641433716, 0.6364919543266296, 1.1419470310211182, -0.020788932219147682, 0.020788932219147682], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8730067610740662, 0.5560005903244019, 1.4398794174194336, -0.4022659659385681, -1.5714884996414185, -3.426579860388301e-05, 3.426579860388301e-05, 0.5498970150947571, -1.5520333051681519, 1.107614278793335, -1.8438620567321777, 0.6292439103126526, 1.1423285007476807, -0.02075909450650215, 0.02075909450650215], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8726252913475037, 0.5552376508712769, 1.4398794174194336, -0.4026474356651306, -1.5714884996414185, -3.426579860388301e-05, 3.426579860388301e-05, 0.5506599545478821, -1.5573738813400269, 1.107614278793335, -1.8629357814788818, 0.6219958662986755, 1.1423285007476807, -0.020093606784939766, 0.020093606784939766], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8726252913475037, 0.5540932416915894, 1.4398794174194336, -0.4026474356651306, -1.5714884996414185, -3.426579860388301e-05, 3.426579860388301e-05, 0.5495155453681946, -1.5604257583618164, 1.107614278793335, -1.8785762786865234, 0.6147478222846985, 1.1423285007476807, -0.020073773339390755, 0.020073773339390755], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8722438216209412, 0.5537117719650269, 1.4398794174194336, -0.4026474356651306, -1.5714884996414185, -3.426579860388301e-05, 3.426579860388301e-05, 0.5487525463104248, -1.562333106994629, 1.107614278793335, -1.8877317905426025, 0.6074998378753662, 1.1423285007476807, -0.019469931721687317, 0.019469931721687317], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8714808821678162, 0.5529488325119019, 1.4398794174194336, -0.4022659659385681, -1.5714884996414185, -3.426579860388301e-05, 3.426579860388301e-05, 0.5483710765838623, -1.563096046447754, 1.1079957485198975, -1.8980315923690796, 0.5994887948036194, 1.1427099704742432, -0.019440295174717903, 0.019440295174717903], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8710994124412537, 0.5518043637275696, 1.4398794174194336, -0.4022659659385681, -1.5714884996414185, -3.426579860388301e-05, 3.426579860388301e-05, 0.5464637279510498, -1.5669108629226685, 1.1102845668792725, -1.9087128639221191, 0.5918593406677246, 1.1427099704742432, -0.019440295174717903, 0.019440295174717903], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8710994124412537, 0.5510414242744446, 1.4398794174194336, -0.4022659659385681, -1.5714884996414185, -3.426579860388301e-05, 3.426579860388301e-05, 0.543411910533905, -1.575303316116333, 1.1144808530807495, -1.9159609079360962, 0.5891889929771423, 1.1427099704742432, -0.019440295174717903, 0.019440295174717903], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8699550032615662, 0.5495155453681946, 1.4398794174194336, -0.4022659659385681, -1.571107029914856, -3.426579860388301e-05, 3.426579860388301e-05, 0.5415045619010925, -1.58255136013031, 1.118677020072937, -1.9228274822235107, 0.5846112966537476, 1.1430914402008057, -0.019440295174717903, 0.019440295174717903], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8688105344772339, 0.5476081371307373, 1.4398794174194336, -0.4026474356651306, -1.571107029914856, -3.426579860388301e-05, 3.426579860388301e-05, 0.5403600931167603, -1.5875104665756226, 1.120965838432312, -1.9254977703094482, 0.5788891315460205, 1.1430914402008057, -0.018966997042298317, 0.018966997042298317], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8672846555709839, 0.5464637279510498, 1.4398794174194336, -0.4018844962120056, -1.571107029914856, -3.426579860388301e-05, 3.426579860388301e-05, 0.5399786233901978, -1.591325283050537, 1.122110366821289, -1.9262608289718628, 0.5773632526397705, 1.1434729099273682, -0.015374199487268925, 0.015374199487268925], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8661402463912964, 0.5453193187713623, 1.4398794174194336, -0.4022659659385681, -1.571107029914856, -3.426579860388301e-05, 3.426579860388301e-05, 0.5395971536636353, -1.594377040863037, 1.1217288970947266, -1.9262608289718628, 0.578507661819458, 1.1434729099273682, -0.005621856544166803, 0.005621856544166803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8657587766647339, 0.5445563197135925, 1.4398794174194336, -0.4026474356651306, -1.571107029914856, -3.426579860388301e-05, 3.426579860388301e-05, 0.5376898050308228, -1.5947585105895996, 1.122110366821289, -1.9270237684249878, 0.5773632526397705, 1.1438543796539307, -0.00047567090950906277, 0.00047567090950906277], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8634698987007141, 0.54417484998703, 1.4398794174194336, -0.404173344373703, -1.5707255601882935, -3.426579860388301e-05, 3.426579860388301e-05, 0.5376898050308228, -1.5924696922302246, 1.122110366821289, -1.9270237684249878, 0.5750743746757507, 1.1434729099273682, -0.00047567090950906277, 0.00047567090950906277], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8592736721038818, 0.541886031627655, 1.4398794174194336, -0.40989547967910767, -1.5707255601882935, -3.426579860388301e-05, 3.426579860388301e-05, 0.5384527444839478, -1.5794994831085205, 1.122110366821289, -1.9270237684249878, 0.5716410875320435, 1.1461433172225952, -0.00047567090950906277, 0.00047567090950906277], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8543145060539246, 0.5399786233901978, 1.4398794174194336, -0.41523614525794983, -1.5707255601882935, -3.426579860388301e-05, 3.426579860388301e-05, 0.5357823967933655, -1.5588998794555664, 1.122110366821289, -1.9472419023513794, 0.5617227554321289, 1.185816764831543, -0.00047567090950906277, 0.00047567090950906277], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8504997491836548, 0.5384527444839478, 1.4398794174194336, -0.41638055443763733, -1.570344090461731, -3.426579860388301e-05, 3.426579860388301e-05, 0.5121309161186218, -1.5310521125793457, 1.122110366821289, -1.97966730594635, 0.54417484998703, 1.2644007205963135, -0.00047567090950906277, 0.00047567090950906277], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8478294014930725, 0.5365453362464905, 1.4398794174194336, -0.4228656589984894, -1.569581151008606, -3.426579860388301e-05, 3.426579860388301e-05, 0.46330204606056213, -1.4990081787109375, 1.122110366821289, -2.0037002563476562, 0.5251010656356812, 1.361295461654663, -0.00047567090950906277, 0.00047567090950906277], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8451590538024902, 0.535400927066803, 1.4398794174194336, -0.4232471287250519, -1.5691996812820435, -3.426579860388301e-05, 3.426579860388301e-05, 0.4045548141002655, -1.4757381677627563, 1.122110366821289, -2.014000177383423, 0.5109865069389343, 1.4600976705551147, -0.00047567090950906277, 0.00047567090950906277], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8443961143493652, 0.5350194573402405, 1.4398794174194336, -0.4240100681781769, -1.5691996812820435, -3.426579860388301e-05, 3.426579860388301e-05, 0.33436331152915955, -1.4627679586410522, 1.1224918365478516, -2.0181963443756104, 0.5025940537452698, 1.5699626207351685, -0.00047567090950906277, 0.00047567090950906277], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8436331748962402, 0.534637987613678, 1.4398794174194336, -0.42515450716018677, -1.5691996812820435, -3.426579860388301e-05, 3.426579860388301e-05, 0.25539788603782654, -1.4578088521957397, 1.1224918365478516, -1.9880597591400146, 0.49191272258758545, 1.654268741607666, -0.00047567090950906277, 0.00047567090950906277], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8436331748962402, 0.534637987613678, 1.4398794174194336, -0.42591744661331177, -1.5691996812820435, -3.426579860388301e-05, 3.426579860388301e-05, 0.18825818598270416, -1.4612420797348022, 1.1224918365478516, -1.9174867868423462, 0.4724574685096741, 1.7004272937774658, -0.00047567090950906277, 0.00047567090950906277], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8436331748962402, 0.534637987613678, 1.4398794174194336, -0.42591744661331177, -1.568818211555481, -3.426579860388301e-05, 3.426579860388301e-05, 0.13942931592464447, -1.4715418815612793, 1.123636245727539, -1.8461508750915527, 0.4526207447052002, 1.725223183631897, -0.0056596253998577595, 0.0056596253998577595], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8428702354431152, 0.533875048160553, 1.4398794174194336, -0.42591744661331177, -1.5684367418289185, -3.426579860388301e-05, 3.426579860388301e-05, 0.10204470902681351, -1.4791713953018188, 1.1255435943603516, -1.796940565109253, 0.44613564014434814, 1.742008090019226, -0.012352408841252327, 0.012352408841252327], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.839436948299408, 0.5327305793762207, 1.4398794174194336, -0.42935073375701904, -1.5676738023757935, -3.426579860388301e-05, 3.426579860388301e-05, 0.07686731964349747, -1.4772640466690063, 1.126688003540039, -1.7710002660751343, 0.4549095928668976, 1.7504005432128906, -0.015177860856056213, 0.015177860856056213], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3885328471660614, -0.8356221914291382, 0.5319676399230957, 1.4398794174194336, -0.43125811219215393, -1.566529393196106, -3.426579860388301e-05, 3.426579860388301e-05, 0.06733043491840363, -1.4574273824691772, 1.1217288970947266, -1.7545968294143677, 0.482375830411911, 1.7538337707519531, -0.015590095892548561, 0.015590095892548561], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3881513774394989, -0.8344777822494507, 0.5342565178871155, 1.4398794174194336, -0.4346913993358612, -1.5642404556274414, -3.426579860388301e-05, 3.426579860388301e-05, 0.0711451917886734, -1.405165195465088, 1.0889219045639038, -1.7477302551269531, 0.4972533881664276, 1.729037880897522, -0.002582666464149952, 0.002582666464149952], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3839551508426666, -0.8382925391197205, 0.5392156839370728, 1.4398794174194336, -0.4350728690624237, -1.5642404556274414, -3.426579860388301e-05, 3.426579860388301e-05, 0.09288929402828217, -1.3311588764190674, 1.0370413064956665, -1.745059847831726, 0.4999237060546875, 1.6855497360229492, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.38052186369895935, -0.8478294014930725, 0.5449378490447998, 1.4398794174194336, -0.4346913993358612, -1.564621925354004, -3.426579860388301e-05, 3.426579860388301e-05, 0.11348897218704224, -1.2502861022949219, 0.9771496057510376, -1.636720895767212, 0.5037384629249573, 1.5573738813400269, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3744182586669922, -0.8646143078804016, 0.5567635893821716, 1.4398794174194336, -0.4335469603538513, -1.5650033950805664, -3.426579860388301e-05, 3.426579860388301e-05, 0.1203555315732956, -1.188868522644043, 0.927176296710968, -1.4417868852615356, 0.5357823967933655, 1.3769359588623047, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3568703830242157, -0.8894102573394775, 0.5758373141288757, 1.4398794174194336, -0.42858776450157166, -1.5730143785476685, -3.426579860388301e-05, 3.426579860388301e-05, 0.12455176562070847, -1.1427099704742432, 0.8871213793754578, -1.2209124565124512, 0.5949110984802246, 1.182383418083191, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33550775051116943, -0.9245060086250305, 0.6101701259613037, 1.438735008239746, -0.4228656589984894, -1.5844587087631226, -3.426579860388301e-05, 3.426579860388301e-05, 0.13065537810325623, -1.1167696714401245, 0.8600366115570068, -1.036659836769104, 0.6792172193527222, 1.0385671854019165, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28896772861480713, -0.9721904397010803, 0.6498435735702515, 1.3090333938598633, -0.43049514293670654, -1.4909971952438354, -3.426579860388301e-05, 3.426579860388301e-05, 0.1367589831352234, -1.0973143577575684, 0.8360036611557007, -0.9115357995033264, 0.7452124953269958, 0.9439612627029419, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21725031733512878, -1.053444743156433, 0.6979095339775085, 1.055733561515808, -0.47856107354164124, -1.2941558361053467, -3.426579860388301e-05, 3.426579860388301e-05, 0.13866636157035828, -1.0843442678451538, 0.8173113465309143, -0.848210871219635, 0.7738231420516968, 0.8974212408065796, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16002899408340454, -1.1434729099273682, 0.7509346008300781, 0.8699550032615662, -0.534637987613678, -1.1514838933944702, -5.750389027525671e-05, 5.750389027525671e-05, 0.14286258816719055, -1.0751888751983643, 0.7997635006904602, -0.8077744841575623, 0.7974746227264404, 0.8680475950241089, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12989242374897003, -1.2182421684265137, 0.7944228053092957, 0.76276034116745, -0.568970799446106, -1.0690852403640747, -0.004899708554148674, 0.004899708554148674, 0.14400701224803925, -1.0683223009109497, 0.7875562906265259, -0.7867932915687561, 0.8112077713012695, 0.8531700372695923, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11348897218704224, -1.283092975616455, 0.8360036611557007, 0.7021057605743408, -0.5880445837974548, -1.0248340368270874, -0.010432790964841843, 0.010432790964841843, 0.14324407279491425, -1.0633630752563477, 0.7806897163391113, -0.7745860815048218, 0.8134965896606445, 0.8436331748962402, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1035706102848053, -1.3426032066345215, 0.8772030472755432, 0.6647211313247681, -0.6048294901847839, -1.0095750093460083, -0.013989347964525223, 0.013989347964525223, 0.14400701224803925, -1.0614557266235352, 0.7768749594688416, -0.7658121585845947, 0.8203631639480591, 0.8390554785728455, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10166323184967041, -1.3952468633651733, 0.9100099205970764, 0.6448844075202942, -0.6219958662986755, -1.0103379487991333, -0.016015000641345978, 0.016015000641345978, 0.14438849687576294, -1.0603113174438477, 0.7745860815048218, -0.761997401714325, 0.8234149813652039, 0.8360036611557007, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1024261862039566, -1.4375905990600586, 0.9328984618186951, 0.6345845460891724, -0.6322957277297974, -1.0248340368270874, -0.01660553179681301, 0.01660553179681301, 0.14400701224803925, -1.0603113174438477, 0.7734416723251343, -0.7593270540237427, 0.8230335116386414, 0.8352407217025757, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10776684433221817, -1.4719233512878418, 0.9504463076591492, 0.6273365616798401, -0.6338216066360474, -1.045433759689331, -0.01661510206758976, 0.01661510206758976, 0.14438849687576294, -1.0610742568969727, 0.7734416723251343, -0.7581826448440552, 0.8184558153152466, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11577782779932022, -1.496337890625, 0.962272047996521, 0.6227588057518005, -0.6364919543266296, -1.0595483779907227, -0.01660553179681301, 0.01660553179681301, 0.14438849687576294, -1.0622186660766602, 0.7734416723251343, -0.7558938264846802, 0.8104447722434998, 0.8321889042854309, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12226291000843048, -1.513122797012329, 0.9691386222839355, 0.620851457118988, -0.6353475451469421, -1.0751888751983643, -0.01660553179681301, 0.01660553179681301, 0.14438849687576294, -1.0637445449829102, 0.7734416723251343, -0.7558938264846802, 0.80357825756073, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12493324279785156, -1.5226596593856812, 0.9710460305213928, 0.619325578212738, -0.6288624405860901, -1.0893033742904663, -0.01661510206758976, 0.01661510206758976, 0.14438849687576294, -1.0664149522781372, 0.7734416723251343, -0.7555122971534729, 0.7997635006904602, 0.8321889042854309, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12684062123298645, -1.5268558263778687, 0.9691386222839355, 0.619325578212738, -0.6284809708595276, -1.1030365228652954, -0.01661510206758976, 0.01661510206758976, 0.14438849687576294, -1.0694667100906372, 0.7730602025985718, -0.7558938264846802, 0.7959487438201904, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12760357558727264, -1.5276188850402832, 0.9637979865074158, 0.6189440488815308, -0.6284809708595276, -1.1137179136276245, -0.01660553179681301, 0.01660553179681301, 0.14438849687576294, -1.0721369981765747, 0.7730602025985718, -0.7555122971534729, 0.7944228053092957, 0.8321889042854309, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12760357558727264, -1.5253299474716187, 0.9565499424934387, 0.6185625791549683, -0.6284809708595276, -1.119439959526062, -0.01661510206758976, 0.01661510206758976, 0.14438849687576294, -1.0740443468093872, 0.7722972631454468, -0.7555122971534729, 0.7928969264030457, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12760357558727264, -1.5234225988388062, 0.9500648379325867, 0.6185625791549683, -0.6261920928955078, -1.123636245727539, -0.01661510206758976, 0.01661510206758976, 0.14438849687576294, -1.0751888751983643, 0.7711527943611145, -0.7555122971534729, 0.7921339869499207, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12760357558727264, -1.5245670080184937, 0.9473945498466492, 0.6185625791549683, -0.615129292011261, -1.123636245727539, -0.01660553179681301, 0.01660553179681301, 0.14438849687576294, -1.0763332843780518, 0.7711527943611145, -0.7558938264846802, 0.7917525172233582, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12836651504039764, -1.5295262336730957, 0.9473945498466492, 0.6185625791549683, -0.6033035516738892, -1.1270694732666016, -0.01661510206758976, 0.01661510206758976, 0.14438849687576294, -1.0770962238311768, 0.7711527943611145, -0.7558938264846802, 0.7913710474967957, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13141833245754242, -1.5371557474136353, 0.9500648379325867, 0.6162737607955933, -0.5861371755599976, -1.1358433961868286, -0.01661510206758976, 0.01661510206758976, 0.14438849687576294, -1.0778591632843018, 0.7711527943611145, -0.7558938264846802, 0.7887006998062134, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13828489184379578, -1.5451667308807373, 0.9538795948028564, 0.6147478222846985, -0.5651560425758362, -1.1461433172225952, -0.01660553179681301, 0.01660553179681301, 0.14438849687576294, -1.0782406330108643, 0.7711527943611145, -0.7558938264846802, 0.7860303521156311, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1493476778268814, -1.5527962446212769, 0.960746169090271, 0.6124590039253235, -0.54417484998703, -1.1591134071350098, -0.016586394980549812, 0.016586394980549812, 0.14438849687576294, -1.0786221027374268, 0.7711527943611145, -0.7558938264846802, 0.7837415337562561, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16308079659938812, -1.560044288635254, 0.970283031463623, 0.6162737607955933, -0.5285343527793884, -1.1713206768035889, -0.016357198357582092, 0.016357198357582092, 0.14438849687576294, -1.0797665119171143, 0.770771324634552, -0.7558938264846802, 0.7810711860656738, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17376211285591125, -1.5669108629226685, 0.9771496057510376, 0.6204699873924255, -0.5186160206794739, -1.182383418083191, -0.011980733834207058, 0.011980733834207058, 0.14438849687576294, -1.0797665119171143, 0.770771324634552, -0.7555122971534729, 0.7803082466125488, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1806286722421646, -1.571107029914856, 0.9798199534416199, 0.622377336025238, -0.5109865069389343, -1.1907758712768555, -0.0005188684444874525, 0.0005188684444874525, 0.14438849687576294, -1.0797665119171143, 0.770771324634552, -0.7558938264846802, 0.778019368648529, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1832990050315857, -1.568818211555481, 0.9763866662979126, 0.6204699873924255, -0.506790280342102, -1.1987868547439575, -0.0002747689140960574, 0.0002747689140960574, 0.14438849687576294, -1.0793850421905518, 0.7703898549079895, -0.7555122971534729, 0.778019368648529, 0.8318074345588684, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17872129380702972, -1.5524147748947144, 0.9664682745933533, 0.619325578212738, -0.5033569931983948, -1.198405385017395, -0.0002747689140960574, 0.0002747689140960574, 0.14438849687576294, -1.0793850421905518, 0.770008385181427, -0.7558938264846802, 0.778019368648529, 0.8321889042854309, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16308079659938812, -1.5203708410263062, 0.9515907764434814, 0.619325578212738, -0.5041199326515198, -1.1820019483566284, -0.00027130701346322894, 0.00027130701346322894, 0.14438849687576294, -1.0793850421905518, 0.770008385181427, -0.7558938264846802, 0.778019368648529, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.135233074426651, -1.4780269861221313, 0.9401465058326721, 0.6197070479393005, -0.5186160206794739, -1.1537728309631348, -0.00027130701346322894, 0.00027130701346322894, 0.14438849687576294, -1.0793850421905518, 0.770008385181427, -0.7558938264846802, 0.778019368648529, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09899290651082993, -1.4326313734054565, 0.9355688095092773, 0.619325578212738, -0.5495155453681946, -1.1198214292526245, -0.0002747689140960574, 0.0002747689140960574, 0.14438849687576294, -1.0793850421905518, 0.770008385181427, -0.7558938264846802, 0.7730602025985718, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06237125024199486, -1.3910505771636963, 0.9290837049484253, 0.6197070479393005, -0.5861371755599976, -1.0885404348373413, -0.00027130701346322894, 0.00027130701346322894, 0.14438849687576294, -1.0793850421905518, 0.770008385181427, -0.7558938264846802, 0.769245445728302, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.031090257689356804, -1.3609139919281006, 0.9210727214813232, 0.6219958662986755, -0.6227588057518005, -1.0671778917312622, -0.0002747689140960574, 0.0002747689140960574, 0.14438849687576294, -1.0793850421905518, 0.770008385181427, -0.7562752962112427, 0.763523280620575, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.009727626107633114, -1.3345922231674194, 0.9054322242736816, 0.6227588057518005, -0.6509880423545837, -1.053444743156433, -0.00027130701346322894, 0.00027130701346322894, 0.14438849687576294, -1.0793850421905518, 0.770008385181427, -0.7562752962112427, 0.7581826448440552, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.004386968910694122, -1.3063629865646362, 0.8768215179443359, 0.6227588057518005, -0.6719691753387451, -1.046196699142456, -0.00027130701346322894, 0.00027130701346322894, 0.14438849687576294, -1.0786221027374268, 0.770008385181427, -0.7558938264846802, 0.7539864182472229, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.012397955171763897, -1.27927827835083, 0.8360036611557007, 0.6227588057518005, -0.6815060377120972, -1.042763352394104, -0.00027130701346322894, 0.00027130701346322894, 0.14438849687576294, -1.0782406330108643, 0.770008385181427, -0.7562752962112427, 0.7520790696144104, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.016212711110711098, -1.262493371963501, 0.7928969264030457, 0.6227588057518005, -0.6876096725463867, -1.0385671854019165, -0.00027130701346322894, 0.00027130701346322894, 0.14438849687576294, -1.0786221027374268, 0.770008385181427, -0.7562752962112427, 0.7509346008300781, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.018501564860343933, -1.257534146308899, 0.7562752962112427, 0.6227588057518005, -0.6876096725463867, -1.037422776222229, -0.00027130701346322894, 0.00027130701346322894, 0.14438849687576294, -1.0793850421905518, 0.770008385181427, -0.7562752962112427, 0.7494087219238281, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01926451548933983, -1.261348843574524, 0.7288090586662292, 0.6227588057518005, -0.6864652633666992, -1.0351338386535645, -0.00030254150624386966, 0.00030254150624386966, 0.14438849687576294, -1.0801479816436768, 0.770008385181427, -0.7562752962112427, 0.7459754347801208, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01926451548933983, -1.268596887588501, 0.7082093358039856, 0.6227588057518005, -0.6841763854026794, -1.0351338386535645, -0.005703818053007126, 0.005703818053007126, 0.14438849687576294, -1.0809109210968018, 0.770008385181427, -0.7562752962112427, 0.7429236173629761, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01888304017484188, -1.270504355430603, 0.6944762468338013, 0.6231403350830078, -0.6834134459495544, -1.034752368927002, -0.012335026636719704, 0.012335026636719704, 0.14438849687576294, -1.0820554494857788, 0.770008385181427, -0.7562752962112427, 0.7398717999458313, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.024605173617601395, -1.2621119022369385, 0.6898985505104065, 0.622377336025238, -0.6845578551292419, -1.0313191413879395, -0.014954417012631893, 0.014954417012631893, 0.14438849687576294, -1.0824369192123413, 0.770008385181427, -0.7562752962112427, 0.7387273907661438, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05741206929087639, -1.2384604215621948, 0.697528064250946, 0.6231403350830078, -0.6868467330932617, -1.027885913848877, -0.013528399169445038, 0.013528399169445038, 0.14438849687576294, -1.0824369192123413, 0.770008385181427, -0.7562752962112427, 0.7364385724067688, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09784847497940063, -1.2136644124984741, 0.7196536064147949, 0.6231403350830078, -0.6876096725463867, -1.019874930381775, -0.006383386440575123, 0.006383386440575123, 0.14438849687576294, -1.0820554494857788, 0.7696269154548645, -0.7562752962112427, 0.7364385724067688, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12760357558727264, -1.2067978382110596, 0.7509346008300781, 0.6231403350830078, -0.6815060377120972, -1.0053788423538208, -0.0006062152679078281, 0.0006062152679078281, 0.14438849687576294, -1.0820554494857788, 0.769245445728302, -0.7562752962112427, 0.7368200421333313, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.13103684782981873, -1.2296863794326782, 0.7841230034828186, 0.6227588057518005, -0.6593804955482483, -0.9885938763618469, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0820554494857788, 0.769245445728302, -0.7562752962112427, 0.7368200421333313, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11463340371847153, -1.2769893407821655, 0.8157854676246643, 0.6227588057518005, -0.6303883194923401, -0.9668498039245605, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0812923908233643, 0.769245445728302, -0.7562752962112427, 0.7375829815864563, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09403372555971146, -1.3307774066925049, 0.8413442969322205, 0.6227588057518005, -0.5991073250770569, -0.9523537158966064, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0809109210968018, 0.769245445728302, -0.7562752962112427, 0.7387273907661438, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07648584991693497, -1.3754100799560547, 0.8592736721038818, 0.6227588057518005, -0.5724040865898132, -0.9405279755592346, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0809109210968018, 0.769245445728302, -0.7562752962112427, 0.7387273907661438, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06618601083755493, -1.405928134918213, 0.8703364729881287, 0.6227588057518005, -0.5483710765838623, -0.9306095838546753, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0809109210968018, 0.769245445728302, -0.7562752962112427, 0.7387273907661438, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05970092490315437, -1.4272907972335815, 0.8775845170021057, 0.6227588057518005, -0.5243381261825562, -0.9225986003875732, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0809109210968018, 0.769245445728302, -0.7562752962112427, 0.7379644513130188, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.057793546468019485, -1.4478904008865356, 0.8863584399223328, 0.6227588057518005, -0.4999237060546875, -0.9157320261001587, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0812923908233643, 0.769245445728302, -0.7562752962112427, 0.7379644513130188, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0558861680328846, -1.4734493494033813, 0.9000915288925171, 0.6227588057518005, -0.4839017391204834, -0.9115357995033264, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0828183889389038, 0.769245445728302, -0.7562752962112427, 0.7372015118598938, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.054741740226745605, -1.498626708984375, 0.9119172692298889, 0.6227588057518005, -0.4663538634777069, -0.9081025123596191, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0854886770248413, 0.769245445728302, -0.7566567659378052, 0.7368200421333313, 0.8318074345588684, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05397878959774971, -1.5218967199325562, 0.9218356609344482, 0.6227588057518005, -0.44575417041778564, -0.9050507545471191, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0896848440170288, 0.769245445728302, -0.7566567659378052, 0.7364385724067688, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05397878959774971, -1.5417333841323853, 0.9321355223655701, 0.6231403350830078, -0.4247730076313019, -0.9008545279502869, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0931181907653809, 0.769245445728302, -0.7566567659378052, 0.7352941036224365, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05397878959774971, -1.562333106994629, 0.9485389590263367, 0.6231403350830078, -0.4079881012439728, -0.8970397710800171, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0965514183044434, 0.769245445728302, -0.7566567659378052, 0.7295719981193542, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.053215838968753815, -1.5852216482162476, 0.9744792580604553, 0.6231403350830078, -0.39806973934173584, -0.8966583013534546, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.099603295326233, 0.769245445728302, -0.7566567659378052, 0.726901650428772, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -1.6103990077972412, 1.0088120698928833, 0.6231403350830078, -0.3900587558746338, -0.8958953022956848, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.1015106439590454, 0.769245445728302, -0.7566567659378052, 0.7238498330116272, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -1.6363393068313599, 1.045433759689331, 0.6235218048095703, -0.3858625292778015, -0.8939879536628723, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.103417992591858, 0.769245445728302, -0.7566567659378052, 0.7223239541053772, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -1.6584649085998535, 1.0732814073562622, 0.6235218048095703, -0.38357365131378174, -0.8936064839363098, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.104180932044983, 0.769245445728302, -0.7566567659378052, 0.7215610146522522, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -1.6786831617355347, 1.0965514183044434, 0.6239032745361328, -0.38319218158721924, -0.8836880922317505, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.1064698696136475, 0.769245445728302, -0.7566567659378052, 0.7211795449256897, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -1.6889829635620117, 1.110666036605835, 0.6239032745361328, -0.38242924213409424, -0.8699550032615662, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.1079957485198975, 0.769245445728302, -0.7570382356643677, 0.7211795449256897, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -1.6840238571166992, 1.1175326108932495, 0.6239032745361328, -0.38281071186065674, -0.8573662638664246, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.10990309715271, 0.769245445728302, -0.7570382356643677, 0.7211795449256897, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -1.653505802154541, 1.120202898979187, 0.6239032745361328, -0.3854810297489166, -0.848210871219635, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.10990309715271, 0.769245445728302, -0.7570382356643677, 0.7211795449256897, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -1.5970473289489746, 1.113336443901062, 0.6235218048095703, -0.4064621925354004, -0.8436331748962402, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.1087586879730225, 0.769245445728302, -0.7570382356643677, 0.7215610146522522, 0.8318074345588684, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -1.515411615371704, 1.0839627981185913, 0.6235218048095703, -0.45986875891685486, -0.8405813574790955, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.101892113685608, 0.769245445728302, -0.760471522808075, 0.7417792081832886, 0.8318074345588684, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05283436179161072, -1.407454013824463, 1.0126268863677979, 0.6235218048095703, -0.5334935784339905, -0.8371480703353882, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0885404348373413, 0.7650492191314697, -0.778782308101654, 0.7898451089859009, 0.8314259648323059, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05130846053361893, -1.28233003616333, 0.9061951637268066, 0.6239032745361328, -0.6006332635879517, -0.8356221914291382, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0610742568969727, 0.7413977384567261, -0.8016708493232727, 0.8421072959899902, 0.8321889042854309, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.048638131469488144, -1.1461433172225952, 0.7902265787124634, 0.6250476837158203, -0.6784542798995972, -0.8329518437385559, -9.087968646781519e-05, 9.087968646781519e-05, 0.14438849687576294, -1.0080491304397583, 0.691042959690094, -0.8424887657165527, 0.8764400482177734, 0.8653773069381714, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03643091395497322, -1.0088120698928833, 0.6795986890792847, 0.6261920928955078, -0.7585641145706177, -0.8287556171417236, -9.087968646781519e-05, 9.087968646781519e-05, 0.14362554252147675, -0.9439612627029419, 0.6342030763626099, -0.9374761581420898, 0.9100099205970764, 0.9500648379325867, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01125352829694748, -0.8871213793754578, 0.5895704627037048, 0.6250476837158203, -0.8257037997245789, -0.8260852694511414, -9.087968646781519e-05, 9.087968646781519e-05, 0.14324407279491425, -0.8680475950241089, 0.5804150700569153, -1.0355154275894165, 0.9573128819465637, 1.038185715675354, -0.00012109801900805905, 0.00012109801900805905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02079041674733162, -0.7982375621795654, 0.5292973518371582, 0.6250476837158203, -0.8707179427146912, -0.8260852694511414, -9.087968646781519e-05, 9.087968646781519e-05, 0.14324407279491425, -0.7879377603530884, 0.5388342142105103, -1.1224918365478516, 1.0118639469146729, 1.1293584108352661, -0.0026210667565464973, 0.0026210667565464973], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.049782559275627136, -0.7478827834129333, 0.49496451020240784, 0.6246662139892578, -0.9016174674034119, -0.8299000263214111, -9.087968646781519e-05, 9.087968646781519e-05, 0.14248111844062805, -0.7188906669616699, 0.5094605684280396, -1.181620478630066, 1.0675593614578247, 1.2094682455062866, -0.01478751003742218, 0.01478751003742218], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07343403995037079, -0.725375771522522, 0.47665369510650635, 0.6235218048095703, -0.9222171306610107, -0.8344777822494507, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.6681544184684753, 0.4804684519767761, -1.2129014730453491, 1.1160067319869995, 1.275844931602478, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09060044586658478, -0.7173647880554199, 0.4663538634777069, 0.6239032745361328, -0.9321355223655701, -0.8356221914291382, -9.087968646781519e-05, 9.087968646781519e-05, 0.14248111844062805, -0.6376363635063171, 0.4484245181083679, -1.2308309078216553, 1.1449989080429077, 1.3242924213409424, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10090028494596481, -0.7139315009117126, 0.45986875891685486, 0.6239032745361328, -0.9424353241920471, -0.8371480703353882, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.6296253800392151, 0.4171435236930847, -1.2277790307998657, 1.1594948768615723, 1.354047417640686, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10547798871994019, -0.7135500311851501, 0.4560540020465851, 0.6235218048095703, -0.9458686113357544, -0.8329518437385559, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.6399252414703369, 0.39387351274490356, -1.2159533500671387, 1.1488136053085327, 1.3712139129638672, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10852979123592377, -0.7166017889976501, 0.4549095928668976, 0.6235218048095703, -0.9485389590263367, -0.8283741474151611, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.6681544184684753, 0.38128480315208435, -1.196879506111145, 1.1137179136276245, 1.3807507753372192, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11005569249391556, -0.7185091972351074, 0.4530022144317627, 0.6231403350830078, -0.9496833682060242, -0.8245593905448914, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.7078278660774231, 0.3744182586669922, -1.1804760694503784, 1.0732814073562622, 1.3872358798980713, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11043716967105865, -0.7204165458679199, 0.4510948359966278, 0.6235218048095703, -0.9504463076591492, -0.8180742859840393, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.7452124953269958, 0.3706035017967224, -1.1655985116958618, 1.0320820808410645, 1.3906691074371338, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7230868935585022, 0.4495689272880554, 0.6235218048095703, -0.9546425342559814, -0.8104447722434998, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.7722972631454468, 0.36907759308815, -1.1472877264022827, 0.9931715726852417, 1.3914320468902588, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7288090586662292, 0.4491874575614929, 0.6235218048095703, -0.955024003982544, -0.8054856061935425, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.7879377603530884, 0.368314653635025, -1.1327916383743286, 0.961509108543396, 1.3937208652496338, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7352941036224365, 0.4491874575614929, 0.6235218048095703, -0.954261064529419, -0.7997635006904602, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.7970931529998779, 0.368314653635025, -1.120965838432312, 0.9283207654953003, 1.3937208652496338, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7406347990036011, 0.4491874575614929, 0.6235218048095703, -0.954261064529419, -0.7978560924530029, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.8039597272872925, 0.36793315410614014, -1.1110475063323975, 0.8936064839363098, 1.3937208652496338, -0.014483059756457806, 0.014483059756457806], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7444495558738708, 0.4491874575614929, 0.6235218048095703, -0.953498125076294, -0.7959487438201904, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.8062485456466675, 0.36793315410614014, -1.1015106439590454, 0.8669031858444214, 1.3937208652496338, -0.00291434139944613, 0.00291434139944613], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7478827834129333, 0.4488059878349304, 0.6231403350830078, -0.9523537158966064, -0.7959487438201904, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.8001449704170227, 0.368314653635025, -1.0957884788513184, 0.8520256280899048, 1.3937208652496338, -0.0003585006343200803, 0.0003585006343200803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7497901916503906, 0.44766154885292053, 0.6235218048095703, -0.9496833682060242, -0.7955672740936279, -9.087968646781519e-05, 9.087968646781519e-05, 0.14286258816719055, -0.7745860815048218, 0.37861448526382446, -1.0931181907653809, 0.8463035225868225, 1.3937208652496338, -0.0003585006343200803, 0.0003585006343200803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7516975402832031, 0.44728007912635803, 0.6235218048095703, -0.9496833682060242, -0.7951858043670654, -9.087968646781519e-05, 9.087968646781519e-05, 0.14476996660232544, -0.7471198439598083, 0.404936283826828, -1.0843442678451538, 0.8508812189102173, 1.3929579257965088, -0.0003585006343200803, 0.0003585006343200803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7532234787940979, 0.44689860939979553, 0.6235218048095703, -0.9493018984794617, -0.7928969264030457, -9.087968646781519e-05, 9.087968646781519e-05, 0.1668955534696579, -0.7322422862052917, 0.44232088327407837, -1.0698481798171997, 0.8562218546867371, 1.3899061679840088, -0.0003585006343200803, 0.0003585006343200803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7536049485206604, 0.44689860939979553, 0.6235218048095703, -0.9481574892997742, -0.7928969264030457, -9.087968646781519e-05, 9.087968646781519e-05, 0.2161058932542801, -0.7494087219238281, 0.49153125286102295, -1.0538262128829956, 0.8520256280899048, 1.3868544101715088, -0.0003585006343200803, 0.0003585006343200803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7536049485206604, 0.44575417041778564, 0.6231403350830078, -0.9458686113357544, -0.7928969264030457, -9.087968646781519e-05, 9.087968646781519e-05, 0.2775234580039978, -0.8085374236106873, 0.5525673031806946, -1.0458152294158936, 0.8329518437385559, 1.3868544101715088, -0.0003585006343200803, 0.0003585006343200803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7513160705566406, 0.44270238280296326, 0.6235218048095703, -0.9462500810623169, -0.7928969264030457, -9.087968646781519e-05, 9.087968646781519e-05, 0.3419928252696991, -0.8970397710800171, 0.6242847442626953, -1.038948655128479, 0.8081559538841248, 1.3860913515090942, -0.0003585006343200803, 0.0003585006343200803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7467383742332458, 0.4369802474975586, 0.6231403350830078, -0.9458686113357544, -0.7928969264030457, -9.087968646781519e-05, 9.087968646781519e-05, 0.4053177833557129, -0.9931715726852417, 0.7036316394805908, -1.0378042459487915, 0.7833600640296936, 1.3838025331497192, -0.0003585006343200803, 0.0003585006343200803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7402533292770386, 0.42973220348358154, 0.6227588057518005, -0.9458686113357544, -0.7932783961296082, -9.087968646781519e-05, 9.087968646781519e-05, 0.4682612419128418, -1.0923552513122559, 0.7906080484390259, -1.038948655128479, 0.7612344622612, 1.3830395936965942, -0.0003585006343200803, 0.0003585006343200803], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7345311641693115, 0.422102689743042, 0.6231403350830078, -0.9462500810623169, -0.7936598658561707, -9.087968646781519e-05, 9.087968646781519e-05, 0.5174715518951416, -1.1861982345581055, 0.8691920638084412, -1.0408560037612915, 0.7497901916503906, 1.3830395936965942, -0.0029193086083978415, 0.0029193086083978415], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7307164072990417, 0.41485464572906494, 0.6235218048095703, -0.9496833682060242, -0.7959487438201904, -9.087968646781519e-05, 9.087968646781519e-05, 0.5510414242744446, -1.272793173789978, 0.9332799315452576, -1.0435264110565186, 0.7509346008300781, 1.3826581239700317, -0.01891779899597168, 0.01891779899597168], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7307164072990417, 0.4083695709705353, 0.6231403350830078, -0.9496833682060242, -0.7959487438201904, -9.087968646781519e-05, 9.087968646781519e-05, 0.5682078003883362, -1.3265812397003174, 0.9729533791542053, -1.055733561515808, 0.778019368648529, 1.3826581239700317, -0.019558876752853394, 0.019558876752853394], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.734912633895874, 0.404173344373703, 0.6235218048095703, -0.9508277773857117, -0.7959487438201904, -9.087968646781519e-05, 9.087968646781519e-05, 0.5758373141288757, -1.334973692893982, 0.9840161800384521, -1.0942625999450684, 0.8199816942214966, 1.3826581239700317, -0.019558876752853394, 0.019558876752853394], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7383459210395813, 0.4015030264854431, 0.6239032745361328, -0.9515907764434814, -0.7959487438201904, -9.087968646781519e-05, 9.087968646781519e-05, 0.5632486343383789, -1.2926298379898071, 0.9596017599105835, -1.1308842897415161, 0.8531700372695923, 1.3826581239700317, -0.019558876752853394, 0.019558876752853394], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7402533292770386, 0.3999771177768707, 0.6235218048095703, -0.9531166553497314, -0.7959487438201904, -9.087968646781519e-05, 9.087968646781519e-05, 0.5231937170028687, -1.2178606986999512, 0.9019989371299744, -1.1549172401428223, 0.8722438216209412, 1.3826581239700317, -0.019558876752853394, 0.019558876752853394], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7413977384567261, 0.3995956480503082, 0.6231403350830078, -0.9531166553497314, -0.7955672740936279, -9.087968646781519e-05, 9.087968646781519e-05, 0.4690241813659668, -1.1404211521148682, 0.8279926776885986, -1.1671243906021118, 0.8867399096488953, 1.3826581239700317, -0.019558876752853394, 0.019558876752853394], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7417792081832886, 0.3995956480503082, 0.6231403350830078, -0.9531166553497314, -0.7959487438201904, -9.087968646781519e-05, 9.087968646781519e-05, 0.4198138415813446, -1.0835813283920288, 0.7578011751174927, -1.1755168437957764, 0.8978027105331421, 1.3826581239700317, -0.019548991695046425, 0.019548991695046425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7433050870895386, 0.3995956480503082, 0.6231403350830078, -0.9531166553497314, -0.7955672740936279, -9.087968646781519e-05, 9.087968646781519e-05, 0.3915846347808838, -1.0660333633422852, 0.7166017889976501, -1.1869611740112305, 0.8981841802597046, 1.3826581239700317, -0.019558876752853394, 0.019558876752853394], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7448310256004333, 0.3995956480503082, 0.6231403350830078, -0.953498125076294, -0.7955672740936279, -9.087968646781519e-05, 9.087968646781519e-05, 0.37823301553726196, -1.0725184679031372, 0.697528064250946, -1.1942092180252075, 0.8928435444831848, 1.3826581239700317, -0.019558876752853394, 0.019558876752853394], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7475013136863708, 0.3995956480503082, 0.6231403350830078, -0.953498125076294, -0.7951858043670654, -9.087968646781519e-05, 9.087968646781519e-05, 0.3713664412498474, -1.0870145559310913, 0.691805899143219, -1.201838731765747, 0.8772030472755432, 1.3769359588623047, -0.019548991695046425, 0.019548991695046425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7482643127441406, 0.39921414852142334, 0.6231403350830078, -0.9576943516731262, -0.7925154566764832, -9.087968646781519e-05, 9.087968646781519e-05, 0.3702220320701599, -1.1045624017715454, 0.6960021257400513, -1.204890489578247, 0.8607995510101318, 1.3586251735687256, -0.019548991695046425, 0.019548991695046425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7486457824707031, 0.39921414852142334, 0.6231403350830078, -0.9576943516731262, -0.7925154566764832, -9.087968646781519e-05, 9.087968646781519e-05, 0.3767071068286896, -1.123636245727539, 0.7074463963508606, -1.204890489578247, 0.8436331748962402, 1.3319218158721924, -0.019558876752853394, 0.019558876752853394], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7486457824707031, 0.39921414852142334, 0.6231403350830078, -0.9603646993637085, -0.7921339869499207, -9.087968646781519e-05, 9.087968646781519e-05, 0.38090333342552185, -1.1404211521148682, 0.7200350761413574, -1.204890489578247, 0.8325703740119934, 1.2991149425506592, -0.019548991695046425, 0.019548991695046425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7497901916503906, 0.39921414852142334, 0.6231403350830078, -0.961509108543396, -0.7917525172233582, -9.087968646781519e-05, 9.087968646781519e-05, 0.3843366205692291, -1.1541543006896973, 0.7310978770256042, -1.206416368484497, 0.8249408602714539, 1.2708858251571655, -0.019548991695046425, 0.019548991695046425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7520790696144104, 0.39921414852142334, 0.6235218048095703, -0.9618905782699585, -0.7913710474967957, -9.087968646781519e-05, 9.087968646781519e-05, 0.3900587558746338, -1.1705577373504639, 0.7433050870895386, -1.206416368484497, 0.8180742859840393, 1.2464714050292969, -0.019548991695046425, 0.019548991695046425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7543678879737854, 0.39921414852142334, 0.6235218048095703, -0.961509108543396, -0.7909895181655884, -9.087968646781519e-05, 9.087968646781519e-05, 0.3995956480503082, -1.1869611740112305, 0.7543678879737854, -1.2071794271469116, 0.813878059387207, 1.2270160913467407, -0.019548991695046425, 0.019548991695046425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7551308274269104, 0.3995956480503082, 0.6231403350830078, -0.961509108543396, -0.7890821695327759, -9.087968646781519e-05, 9.087968646781519e-05, 0.41218432784080505, -1.2029831409454346, 0.7639048099517822, -1.2067978382110596, 0.813115119934082, 1.2067978382110596, -0.019548991695046425, 0.019548991695046425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7551308274269104, 0.3995956480503082, 0.6235218048095703, -0.961509108543396, -0.7890821695327759, -9.087968646781519e-05, 9.087968646781519e-05, 0.421339750289917, -1.2201495170593262, 0.7734416723251343, -1.2067978382110596, 0.8150225281715393, 1.1942092180252075, -0.019548991695046425, 0.019548991695046425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7543678879737854, 0.3995956480503082, 0.6231403350830078, -0.961509108543396, -0.7890821695327759, -9.087968646781519e-05, 9.087968646781519e-05, 0.42591744661331177, -1.2346456050872803, 0.7803082466125488, -1.2079423666000366, 0.8230335116386414, 1.1804760694503784, -0.019548991695046425, 0.019548991695046425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7532234787940979, 0.3995956480503082, 0.6231403350830078, -0.961509108543396, -0.7890821695327759, -9.087968646781519e-05, 9.087968646781519e-05, 0.42935073375701904, -1.2445639371871948, 0.7841230034828186, -1.2079423666000366, 0.8318074345588684, 1.1694133281707764, -0.0193316787481308, 0.0193316787481308], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7520790696144104, 0.3995956480503082, 0.6231403350830078, -0.961509108543396, -0.7890821695327759, -9.087968646781519e-05, 9.087968646781519e-05, 0.43087664246559143, -1.2506675720214844, 0.7860303521156311, -1.2083238363265991, 0.838674008846283, 1.1591134071350098, -0.018123885616660118, 0.018123885616660118], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7513160705566406, 0.3995956480503082, 0.6231403350830078, -0.962272047996521, -0.7894636392593384, -9.087968646781519e-05, 9.087968646781519e-05, 0.43125811219215393, -1.2537193298339844, 0.7875562906265259, -1.2083238363265991, 0.841725766658783, 1.1511024236679077, -0.014750500209629536, 0.014750500209629536], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7509346008300781, 0.3995956480503082, 0.6231403350830078, -0.9649423956871033, -0.7894636392593384, -9.087968646781519e-05, 9.087968646781519e-05, 0.43125811219215393, -1.2563897371292114, 0.7879377603530884, -1.2087053060531616, 0.8463035225868225, 1.1449989080429077, -0.010817945003509521, 0.010817945003509521], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7505531311035156, 0.3995956480503082, 0.6231403350830078, -0.9653238654136658, -0.7894636392593384, -9.087968646781519e-05, 9.087968646781519e-05, 0.43125811219215393, -1.257534146308899, 0.7879377603530884, -1.2094682455062866, 0.8485923409461975, 1.1423285007476807, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7494087219238281, 0.3995956480503082, 0.6231403350830078, -0.9809643626213074, -0.7902265787124634, -9.087968646781519e-05, 9.087968646781519e-05, 0.43125811219215393, -1.2586785554885864, 0.7879377603530884, -1.2094682455062866, 0.8524070978164673, 1.1419470310211182, -0.0038838512264192104, 0.0038838512264192104], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7452124953269958, 0.3995956480503082, 0.6235218048095703, -1.0126268863677979, -0.7959487438201904, -9.087968646781519e-05, 9.087968646781519e-05, 0.43125811219215393, -1.258297085762024, 0.7879377603530884, -1.2106126546859741, 0.8581292629241943, 1.1400396823883057, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7383459210395813, 0.39921414852142334, 0.6235218048095703, -1.0633630752563477, -0.805867075920105, -9.087968646781519e-05, 9.087968646781519e-05, 0.43125811219215393, -1.2579156160354614, 0.7879377603530884, -1.2102311849594116, 0.8676661252975464, 1.1385138034820557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11120012402534485, -0.7242313027381897, 0.39730677008628845, 0.6319142580032349, -1.1305028200149536, -0.8291370868682861, -9.087968646781519e-05, 9.087968646781519e-05, 0.43125811219215393, -1.2571526765823364, 0.7879377603530884, -1.2106126546859741, 0.8741512298583984, 1.1385138034820557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11768520623445511, -0.6879911422729492, 0.3931105434894562, 0.7047760486602783, -1.185816764831543, -0.9042877554893494, -9.087968646781519e-05, 9.087968646781519e-05, 0.43125811219215393, -1.2548638582229614, 0.7879377603530884, -1.2102311849594116, 0.8798733353614807, 1.1385138034820557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12722209095954895, -0.6349660754203796, 0.3850995600223541, 0.8031967878341675, -1.2426565885543823, -1.0046159029006958, -9.087968646781519e-05, 9.087968646781519e-05, 0.43125811219215393, -1.2529563903808594, 0.7879377603530884, -1.2098497152328491, 0.8867399096488953, 1.1385138034820557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1337071806192398, -0.5914778113365173, 0.3759441375732422, 0.8611810207366943, -1.3067444562911987, -1.0835813283920288, -0.00011436806380515918, 0.00011436806380515918, 0.43125811219215393, -1.2510490417480469, 0.7879377603530884, -1.2098497152328491, 0.88979172706604, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14209964871406555, -0.5739299654960632, 0.36793315410614014, 0.892080545425415, -1.3513771295547485, -1.1446174383163452, -0.006590009666979313, 0.006590009666979313, 0.43125811219215393, -1.2499046325683594, 0.7879377603530884, -1.2094682455062866, 0.890554666519165, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15583276748657227, -0.5781261920928955, 0.36297398805618286, 0.9122987985610962, -1.3723583221435547, -1.192301869392395, -0.010327261872589588, 0.010327261872589588, 0.43125811219215393, -1.2491416931152344, 0.7879377603530884, -1.2090867757797241, 0.8916990756988525, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19359883666038513, -0.5991073250770569, 0.3614480793476105, 0.924124538898468, -1.3666361570358276, -1.2376973628997803, -0.014400382526218891, 0.014400382526218891, 0.43125811219215393, -1.2487602233886719, 0.7879377603530884, -1.2090867757797241, 0.89131760597229, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.26722362637519836, -0.6292439103126526, 0.3606851398944855, 0.9294651746749878, -1.3269627094268799, -1.2861448526382446, -0.014547470957040787, 0.014547470957040787, 0.43125811219215393, -1.2468528747558594, 0.7879377603530884, -1.2090867757797241, 0.88979172706604, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3580147922039032, -0.6673914790153503, 0.3606851398944855, 0.9325169920921326, -1.2682154178619385, -1.3361181020736694, -0.01850537769496441, 0.01850537769496441, 0.43125811219215393, -1.2468528747558594, 0.7879377603530884, -1.2087053060531616, 0.8875028491020203, 1.1392767429351807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42591744661331177, -0.7101167440414429, 0.3606851398944855, 0.9351872801780701, -1.2129014730453491, -1.3715953826904297, -0.0184857789427042, 0.0184857789427042, 0.43125811219215393, -1.2464714050292969, 0.7879377603530884, -1.2087053060531616, 0.8852140307426453, 1.1392767429351807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46253910660743713, -0.7364385724067688, 0.36297398805618286, 0.9424353241920471, -1.1789501905441284, -1.3967727422714233, -0.018475979566574097, 0.018475979566574097, 0.43125811219215393, -1.2453268766403198, 0.7879377603530884, -1.2087053060531616, 0.8829251527786255, 1.1392767429351807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4819943606853485, -0.7398717999458313, 0.36526283621788025, 0.9821087718009949, -1.1614023447036743, -1.4368276596069336, -0.018475979566574097, 0.018475979566574097, 0.43125811219215393, -1.2445639371871948, 0.7879377603530884, -1.2087053060531616, 0.881780743598938, 1.1392767429351807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49114975333213806, -0.7360570430755615, 0.36678874492645264, 1.0202564001083374, -1.1530098915100098, -1.4719233512878418, -0.018475979566574097, 0.018475979566574097, 0.43125811219215393, -1.2441824674606323, 0.7879377603530884, -1.2087053060531616, 0.881017804145813, 1.1396582126617432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4968718886375427, -0.7482643127441406, 0.3744182586669922, 1.045433759689331, -1.1491950750350952, -1.4940489530563354, -0.0184857789427042, 0.0184857789427042, 0.43125811219215393, -1.2441824674606323, 0.7879377603530884, -1.2087053060531616, 0.8779659867286682, 1.1396582126617432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5006866455078125, -0.7703898549079895, 0.3877699077129364, 1.0599298477172852, -1.1507209539413452, -1.5020599365234375, -0.0184857789427042, 0.0184857789427042, 0.43125811219215393, -1.2441824674606323, 0.7879377603530884, -1.2087053060531616, 0.8783474564552307, 1.1396582126617432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5045014023780823, -0.8024337887763977, 0.4076066315174103, 1.0694667100906372, -1.1758984327316284, -1.50091552734375, -0.0184857789427042, 0.0184857789427042, 0.43125811219215393, -1.2441824674606323, 0.7879377603530884, -1.2087053060531616, 0.8779659867286682, 1.1396582126617432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5117494463920593, -0.8398184180259705, 0.43163958191871643, 1.0732814073562622, -1.2071794271469116, -1.487945318222046, -0.018495576456189156, 0.018495576456189156, 0.43125811219215393, -1.2441824674606323, 0.7879377603530884, -1.2083238363265991, 0.8772030472755432, 1.1396582126617432, -0.0006577570457011461, 0.0006577570457011461], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5178530812263489, -0.8730067610740662, 0.4537651538848877, 1.0744259357452393, -1.2338826656341553, -1.4700160026550293, -0.018495576456189156, 0.018495576456189156, 0.43125811219215393, -1.2441824674606323, 0.7879377603530884, -1.2087053060531616, 0.8772030472755432, 1.1396582126617432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5220493078231812, -0.9016174674034119, 0.47741663455963135, 1.0770962238311768, -1.2571526765823364, -1.4589532613754272, -0.01850537769496441, 0.01850537769496441, 0.43125811219215393, -1.2441824674606323, 0.7879377603530884, -1.2087053060531616, 0.8760585784912109, 1.1396582126617432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5273899435997009, -0.917639434337616, 0.4991607666015625, 1.0770962238311768, -1.267071008682251, -1.4555199146270752, -0.01850537769496441, 0.01850537769496441, 0.43125811219215393, -1.2441824674606323, 0.7879377603530884, -1.2087053060531616, 0.8760585784912109, 1.1400396823883057, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5315861701965332, -0.9203097820281982, 0.508316159248352, 1.0778591632843018, -1.266308069229126, -1.4711604118347168, -0.01850537769496441, 0.01850537769496441, 0.43125811219215393, -1.2438009977340698, 0.7879377603530884, -1.2087053060531616, 0.8752956390380859, 1.1400396823883057, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5327305793762207, -0.9004730582237244, 0.5025940537452698, 1.0786221027374268, -1.2487602233886719, -1.5085450410842896, -0.01850537769496441, 0.01850537769496441, 0.43125811219215393, -1.2438009977340698, 0.7879377603530884, -1.2083238363265991, 0.8749141693115234, 1.1400396823883057, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5331120491027832, -0.8485923409461975, 0.483138769865036, 1.0797665119171143, -1.2251087427139282, -1.566529393196106, -0.018397629261016846, 0.018397629261016846, 0.43125811219215393, -1.2438009977340698, 0.7879377603530884, -1.2083238363265991, 0.8745326995849609, 1.1400396823883057, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.534637987613678, -0.7753490209579468, 0.4549095928668976, 1.0797665119171143, -1.2079423666000366, -1.638246774673462, -0.017452886328101158, 0.017452886328101158, 0.43125811219215393, -1.2441824674606323, 0.7879377603530884, -1.2083238363265991, 0.8741512298583984, 1.1404211521148682, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5495155453681946, -0.6971465349197388, 0.4205767810344696, 1.0793850421905518, -1.1827648878097534, -1.7198824882507324, -0.017230452969670296, 0.017230452969670296, 0.43125811219215393, -1.2445639371871948, 0.7883192300796509, -1.2083238363265991, 0.8737697601318359, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.580033540725708, -0.6330586671829224, 0.38357365131378174, 1.0793850421905518, -1.1404211521148682, -1.8060959577560425, -0.01724010892212391, 0.01724010892212391, 0.43125811219215393, -1.2445639371871948, 0.7883192300796509, -1.2083238363265991, 0.8730067610740662, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6300068497657776, -0.5983443856239319, 0.3530556261539459, 1.0790035724639893, -1.0896848440170288, -1.888113260269165, -0.01925274357199669, 0.01925274357199669, 0.43125811219215393, -1.2445639371871948, 0.7883192300796509, -1.2087053060531616, 0.8718623518943787, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.690280020236969, -0.5838482975959778, 0.33093002438545227, 1.0782406330108643, -1.0271228551864624, -1.9705119132995605, -0.020739203318953514, 0.020739203318953514, 0.43125811219215393, -1.2445639371871948, 0.7883192300796509, -1.2083238363265991, 0.8718623518943787, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7532234787940979, -0.5827038884162903, 0.31376364827156067, 1.0778591632843018, -0.9584572911262512, -2.049095869064331, -0.020739203318953514, 0.020739203318953514, 0.43125811219215393, -1.2445639371871948, 0.7883192300796509, -1.2083238363265991, 0.8722438216209412, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8081559538841248, -0.5910963416099548, 0.2927824854850769, 1.0778591632843018, -0.8947508931159973, -2.1215763092041016, -0.020739203318953514, 0.020739203318953514, 0.43125811219215393, -1.2434195280075073, 0.7883192300796509, -1.2083238363265991, 0.8722438216209412, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8447775840759277, -0.5918593406677246, 0.2653162479400635, 1.0782406330108643, -0.839436948299408, -2.187952995300293, -0.020699426531791687, 0.020699426531791687, 0.43125811219215393, -1.2430380582809448, 0.7883192300796509, -1.2083238363265991, 0.8726252913475037, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8646143078804016, -0.5735484957695007, 0.2447165697813034, 1.0793850421905518, -0.8009079098701477, -2.2318227291107178, -0.0193316787481308, 0.0193316787481308, 0.43125811219215393, -1.2430380582809448, 0.7883192300796509, -1.2083238363265991, 0.8733882904052734, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8749141693115234, -0.5384527444839478, 0.23479819297790527, 1.0862516164779663, -0.7860303521156311, -2.265392541885376, -0.018564198166131973, 0.018564198166131973, 0.43125811219215393, -1.2426565885543823, 0.7883192300796509, -1.2083238363265991, 0.8737697601318359, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8772030472755432, -0.49305713176727295, 0.23327229917049408, 1.1499580144882202, -0.8073930144309998, -2.3241398334503174, -0.018564198166131973, 0.018564198166131973, 0.43125811219215393, -1.2422751188278198, 0.7883192300796509, -1.2083238363265991, 0.8741512298583984, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8749141693115234, -0.4510948359966278, 0.2294575423002243, 1.202601671218872, -0.84744793176651, -2.370298385620117, -0.018564198166131973, 0.018564198166131973, 0.43125811219215393, -1.2422751188278198, 0.7883192300796509, -1.2083238363265991, 0.8741512298583984, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8672846555709839, -0.4381246566772461, 0.22449836134910583, 1.2476158142089844, -0.8752956390380859, -2.397382974624634, -0.018564198166131973, 0.018564198166131973, 0.43125811219215393, -1.2426565885543823, 0.7883192300796509, -1.2079423666000366, 0.8745326995849609, 1.1392767429351807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, -0.4381246566772461, 0.22373540699481964, 1.269359827041626, -0.8787289261817932, -2.410353183746338, -0.018564198166131973, 0.018564198166131973, 0.43125811219215393, -1.2422751188278198, 0.7883192300796509, -1.2079423666000366, 0.8752956390380859, 1.1392767429351807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8619440197944641, -0.44766154885292053, 0.22487983107566833, 1.2956817150115967, -0.8783474564552307, -2.4160754680633545, -0.018564198166131973, 0.018564198166131973, 0.43125811219215393, -1.2422751188278198, 0.7883192300796509, -1.2079423666000366, 0.8756771087646484, 1.1392767429351807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8611810207366943, -0.45681697130203247, 0.2294575423002243, 1.3052185773849487, -0.8741512298583984, -2.4191272258758545, -0.018554391339421272, 0.018554391339421272, 0.43125811219215393, -1.2411307096481323, 0.7883192300796509, -1.2079423666000366, 0.8779659867286682, 1.1392767429351807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8607995510101318, -0.4697871506214142, 0.23594263195991516, 1.3166629076004028, -0.8707179427146912, -2.424849271774292, -0.018564198166131973, 0.018564198166131973, 0.43125811219215393, -1.2407492399215698, 0.7883192300796509, -1.2075608968734741, 0.8779659867286682, 1.1392767429351807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8604180812835693, -0.4819943606853485, 0.2443350851535797, 1.3200961351394653, -0.8806362748146057, -2.424849271774292, -0.018564198166131973, 0.018564198166131973, 0.43125811219215393, -1.2407492399215698, 0.7883192300796509, -1.2075608968734741, 0.8783474564552307, 1.1396582126617432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8596551418304443, -0.4697871506214142, 0.25272753834724426, 1.3384069204330444, -0.9218356609344482, -2.4244678020477295, -0.018564198166131973, 0.018564198166131973, 0.43125811219215393, -1.2407492399215698, 0.7883192300796509, -1.2071794271469116, 0.8787289261817932, 1.1400396823883057, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840962827205658, -0.4377431869506836, 0.2595941126346588, 1.3704508543014526, -0.9782940149307251, -2.4237048625946045, -0.018554391339421272, 0.018554391339421272, 0.43125811219215393, -1.2396048307418823, 0.7883192300796509, -1.2067978382110596, 0.8787289261817932, 1.1400396823883057, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7978560924530029, -0.4209582805633545, 0.25501641631126404, 1.3670176267623901, -1.0187304019927979, -2.382887125015259, -0.018691755831241608, 0.018691755831241608, 0.43125811219215393, -1.2392233610153198, 0.7883192300796509, -1.2067978382110596, 0.8787289261817932, 1.1427099704742432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7593270540237427, -0.42782482504844666, 0.2450980395078659, 1.3128480911254883, -1.0225452184677124, -2.312314033508301, -0.01920343190431595, 0.01920343190431595, 0.43125811219215393, -1.2384604215621948, 0.7883192300796509, -1.2067978382110596, 0.8794918656349182, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7375829815864563, -0.4346913993358612, 0.24204623699188232, 1.278515338897705, -1.0084306001663208, -2.2558555603027344, -0.020252350717782974, 0.020252350717782974, 0.43125811219215393, -1.2376973628997803, 0.7883192300796509, -1.2052719593048096, 0.884069561958313, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7265201807022095, -0.44613564014434814, 0.24319066107273102, 1.257534146308899, -1.0053788423538208, -2.2066452503204346, -0.020252350717782974, 0.020252350717782974, 0.43125811219215393, -1.2357900142669678, 0.7883192300796509, -1.204890489578247, 0.8859769701957703, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7207980751991272, -0.45834288001060486, 0.24891279637813568, 1.2403677701950073, -1.0057603120803833, -2.1593422889709473, -0.020252350717782974, 0.020252350717782974, 0.43125811219215393, -1.2342641353607178, 0.7883192300796509, -1.2045090198516846, 0.8863584399223328, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7093538045883179, -0.4800869822502136, 0.264934778213501, 1.2289234399795532, -1.0152971744537354, -2.0986876487731934, -0.020252350717782974, 0.020252350717782974, 0.43125811219215393, -1.2338826656341553, 0.7883192300796509, -1.2045090198516846, 0.8875028491020203, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6685358881950378, -0.5102235674858093, 0.2912565767765045, 1.2247272729873657, -1.0465781688690186, -2.0143816471099854, -0.020252350717782974, 0.020252350717782974, 0.43125811219215393, -1.2338826656341553, 0.7883192300796509, -1.2045090198516846, 0.88979172706604, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5983443856239319, -0.5544747114181519, 0.31376364827156067, 1.1957350969314575, -1.0889219045639038, -1.891165018081665, -0.020252350717782974, 0.020252350717782974, 0.43125811219215393, -1.2331197261810303, 0.7883192300796509, -1.2045090198516846, 0.8909361362457275, 1.1385138034820557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5125123858451843, -0.6189440488815308, 0.3274967670440674, 1.1247806549072266, -1.1305028200149536, -1.733234167098999, -0.020252350717782974, 0.020252350717782974, 0.43125811219215393, -1.2315938472747803, 0.7883192300796509, -1.2045090198516846, 0.8939879536628723, 1.1385138034820557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4659723937511444, -0.6780728101730347, 0.343900203704834, 1.0694667100906372, -1.1598763465881348, -1.6050583124160767, -0.020948121324181557, 0.020948121324181557, 0.43125811219215393, -1.2300678491592407, 0.7887006998062134, -1.2037460803985596, 0.8985656499862671, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.439269095659256, -0.7169833183288574, 0.3606851398944855, 1.0400930643081665, -1.1720836162567139, -1.512359857559204, -0.020948121324181557, 0.020948121324181557, 0.43125811219215393, -1.2281605005264282, 0.7887006998062134, -1.203364610671997, 0.9012359976768494, 1.1388952732086182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42668038606643677, -0.7425421476364136, 0.3721294105052948, 1.021400809288025, -1.182383418083191, -1.4497978687286377, -0.020948121324181557, 0.020948121324181557, 0.43125811219215393, -1.2281605005264282, 0.7887006998062134, -1.203364610671997, 0.9046692848205566, 1.1392767429351807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4198138415813446, -0.7703898549079895, 0.3843366205692291, 1.0107194185256958, -1.183146357536316, -1.405165195465088, -0.020948121324181557, 0.020948121324181557, 0.43125811219215393, -1.2277790307998657, 0.7887006998062134, -1.203364610671997, 0.9046692848205566, 1.1396582126617432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41676202416419983, -0.8001449704170227, 0.4007400572299957, 1.0046159029006958, -1.1884870529174805, -1.3735027313232422, -0.020938169211149216, 0.020938169211149216, 0.43125811219215393, -1.2277790307998657, 0.7883192300796509, -1.203364610671997, 0.9054322242736816, 1.1411840915679932, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41447317600250244, -0.8287556171417236, 0.4179064631462097, 1.0030899047851562, -1.188868522644043, -1.3563363552093506, -0.020948121324181557, 0.020948121324181557, 0.43125811219215393, -1.2277790307998657, 0.7887006998062134, -1.2037460803985596, 0.9054322242736816, 1.1427099704742432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41332876682281494, -0.8531700372695923, 0.4335469603538513, 1.0000381469726562, -1.1892499923706055, -1.342221736907959, -0.020938169211149216, 0.020938169211149216, 0.43125811219215393, -1.2277790307998657, 0.7887006998062134, -1.2037460803985596, 0.9054322242736816, 1.1427099704742432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41294726729393005, -0.8543145060539246, 0.44193941354751587, 0.9996566772460938, -1.19916832447052, -1.3338292837142944, -0.020948121324181557, 0.020948121324181557, 0.43125811219215393, -1.2273975610733032, 0.7887006998062134, -1.2037460803985596, 0.9050507545471191, 1.1427099704742432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3915846347808838, -0.8157854676246643, 0.4339284300804138, 0.9969863295555115, -1.2106126546859741, -1.3227664232254028, -0.020948121324181557, 0.020948121324181557, 0.43125811219215393, -1.2270160913467407, 0.7887006998062134, -1.2037460803985596, 0.9050507545471191, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36259251832962036, -0.7745860815048218, 0.4060807228088379, 1.0000381469726562, -1.1987868547439575, -1.3181887865066528, -0.020948121324181557, 0.020948121324181557, 0.43125811219215393, -1.2270160913467407, 0.7887006998062134, -1.2037460803985596, 0.9050507545471191, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.35114824771881104, -0.761997401714325, 0.38204777240753174, 1.0000381469726562, -1.1781872510910034, -1.3155183792114258, -0.02060994878411293, 0.02060994878411293, 0.43125811219215393, -1.2270160913467407, 0.7887006998062134, -1.2037460803985596, 0.9046692848205566, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34657052159309387, -0.7520790696144104, 0.36640727519989014, 0.9996566772460938, -1.1549172401428223, -1.3158998489379883, -0.02060994878411293, 0.02060994878411293, 0.43125811219215393, -1.2262531518936157, 0.7883192300796509, -1.2037460803985596, 0.9050507545471191, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3435187339782715, -0.7417792081832886, 0.3557259440422058, 0.9996566772460938, -1.1537728309631348, -1.3204776048660278, -0.02062983065843582, 0.02062983065843582, 0.43125811219215393, -1.2247272729873657, 0.7887006998062134, -1.2037460803985596, 0.9065766334533691, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3423742949962616, -0.7402533292770386, 0.35191118717193604, 0.9996566772460938, -1.1552987098693848, -1.3242924213409424, -0.020739203318953514, 0.020739203318953514, 0.43125811219215393, -1.2247272729873657, 0.7887006998062134, -1.2037460803985596, 0.9084840416908264, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3404669165611267, -0.7623788714408875, 0.3603036403656006, 1.0000381469726562, -1.185816764831543, -1.3231478929519653, -0.020739203318953514, 0.020739203318953514, 0.43125811219215393, -1.2247272729873657, 0.7887006998062134, -1.2037460803985596, 0.9084840416908264, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3404669165611267, -0.7936598658561707, 0.3778515160083771, 1.0000381469726562, -1.2148088216781616, -1.3048371076583862, -0.020938169211149216, 0.020938169211149216, 0.43125811219215393, -1.2247272729873657, 0.7887006998062134, -1.2037460803985596, 0.9088655114173889, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3404669165611267, -0.8321889042854309, 0.4076066315174103, 0.9996566772460938, -1.2266346216201782, -1.2850003242492676, -0.02277109958231449, 0.02277109958231449, 0.43125811219215393, -1.2239643335342407, 0.7887006998062134, -1.2037460803985596, 0.9096284508705139, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.343900203704834, -0.882543683052063, 0.44499123096466064, 1.0000381469726562, -1.2346456050872803, -1.2708858251571655, -0.02326856181025505, 0.02326856181025505, 0.43125811219215393, -1.2235828638076782, 0.7887006998062134, -1.2037460803985596, 0.9122987985610962, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36793315410614014, -0.9294651746749878, 0.47474631667137146, 1.0000381469726562, -1.2434195280075073, -1.267071008682251, -0.023278502747416496, 0.023278502747416496, 0.43125811219215393, -1.2235828638076782, 0.7887006998062134, -1.2037460803985596, 0.9126802682876587, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39463645219802856, -0.9611276388168335, 0.4972533881664276, 0.9992752075195312, -1.2457083463668823, -1.267071008682251, -0.023278502747416496, 0.023278502747416496, 0.43125811219215393, -1.2228199243545532, 0.7887006998062134, -1.2037460803985596, 0.9130617380142212, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41218432784080505, -0.9859235286712646, 0.5148012638092041, 1.0000381469726562, -1.2491416931152344, -1.268596887588501, -0.023278502747416496, 0.023278502747416496, 0.43125811219215393, -1.2228199243545532, 0.7887006998062134, -1.2037460803985596, 0.9157320261001587, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42820629477500916, -1.0076676607131958, 0.5315861701965332, 1.0000381469726562, -1.2579156160354614, -1.275844931602478, -0.02338782511651516, 0.02338782511651516, 0.43125811219215393, -1.2220568656921387, 0.7887006998062134, -1.203364610671997, 0.9153505563735962, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.438506156206131, -1.034752368927002, 0.5483710765838623, 0.9996566772460938, -1.270504355430603, -1.280041217803955, -0.023655951023101807, 0.023655951023101807, 0.43125811219215393, -1.2220568656921387, 0.7883192300796509, -1.2037460803985596, 0.9149690866470337, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44232088327407837, -1.0660333633422852, 0.5670633912086487, 1.0004196166992188, -1.2811856269836426, -1.283092975616455, -0.023655951023101807, 0.023655951023101807, 0.43125811219215393, -1.2224383354187012, 0.7887006998062134, -1.2037460803985596, 0.9122987985610962, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44689860939979553, -1.0915923118591309, 0.5827038884162903, 1.0004196166992188, -1.2899595499038696, -1.2869077920913696, -0.023655951023101807, 0.023655951023101807, 0.43125811219215393, -1.2224383354187012, 0.7887006998062134, -1.2037460803985596, 0.9119172692298889, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4541466534137726, -1.1045624017715454, 0.5914778113365173, 1.0004196166992188, -1.2956817150115967, -1.2911039590835571, -0.023655951023101807, 0.023655951023101807, 0.43125811219215393, -1.2220568656921387, 0.7887006998062134, -1.2037460803985596, 0.9115357995033264, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.45948728919029236, -1.1102845668792725, 0.5956740379333496, 1.0008010864257812, -1.2998778820037842, -1.2941558361053467, -0.023646026849746704, 0.023646026849746704, 0.43125811219215393, -1.2216753959655762, 0.7883192300796509, -1.2037460803985596, 0.9111543297767639, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46139466762542725, -1.1137179136276245, 0.5975814461708069, 1.0008010864257812, -1.3021668195724487, -1.2937743663787842, -0.023636100813746452, 0.023636100813746452, 0.43125811219215393, -1.2216753959655762, 0.7883192300796509, -1.2037460803985596, 0.9100099205970764, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46368351578712463, -1.114099383354187, 0.5975814461708069, 1.0008010864257812, -1.3052185773849487, -1.2903410196304321, -0.023636100813746452, 0.023636100813746452, 0.43125811219215393, -1.2220568656921387, 0.7887006998062134, -1.2037460803985596, 0.9084840416908264, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.45986875891685486, -1.116388201713562, 0.6040665507316589, 1.0008010864257812, -1.3044556379318237, -1.2861448526382446, -0.023636100813746452, 0.023636100813746452, 0.43125811219215393, -1.2216753959655762, 0.7887006998062134, -1.2037460803985596, 0.9077210426330566, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4503318965435028, -1.1327916383743286, 0.620851457118988, 1.0011825561523438, -1.3002593517303467, -1.280041217803955, -0.023646026849746704, 0.023646026849746704, 0.43125811219215393, -1.2212939262390137, 0.7883192300796509, -1.204127550125122, 0.9069581031799316, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4388876259326935, -1.1591134071350098, 0.6448844075202942, 1.0015640258789062, -1.2903410196304321, -1.2747005224227905, -0.023646026849746704, 0.023646026849746704, 0.43125811219215393, -1.2209124565124512, 0.7887006998062134, -1.204127550125122, 0.9061951637268066, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4327840209007263, -1.1839094161987305, 0.6685358881950378, 1.0011825561523438, -1.2586785554885864, -1.2754634618759155, -0.023636100813746452, 0.023636100813746452, 0.43125811219215393, -1.2209124565124512, 0.7883192300796509, -1.2037460803985596, 0.9050507545471191, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42896926403045654, -1.19916832447052, 0.6849393248558044, 1.0011825561523438, -1.2167162895202637, -1.2888151407241821, -0.023606322705745697, 0.023606322705745697, 0.43125811219215393, -1.2201495170593262, 0.7883192300796509, -1.203364610671997, 0.9054322242736816, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4240100681781769, -1.2098497152328491, 0.6921873688697815, 1.0011825561523438, -1.1797131299972534, -1.2994964122772217, -0.02354675531387329, 0.02354675531387329, 0.43125811219215393, -1.2186236381530762, 0.7883192300796509, -1.203364610671997, 0.9065766334533691, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -1.2239643335342407, 0.6956206560134888, 1.0011825561523438, -1.1568245887756348, -1.3094148635864258, -0.02354675531387329, 0.02354675531387329, 0.43125811219215393, -1.2178606986999512, 0.7883192300796509, -1.202601671218872, 0.9077210426330566, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4171435236930847, -1.2369344234466553, 0.6971465349197388, 0.9889753460884094, -1.1503394842147827, -1.3147554397583008, -0.023009974509477615, 0.023009974509477615, 0.43125811219215393, -1.2170977592468262, 0.7883192300796509, -1.201838731765747, 0.9081025123596191, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4175249934196472, -1.2396048307418823, 0.6944762468338013, 0.9924086332321167, -1.1400396823883057, -1.3216220140457153, -0.020113442093133926, 0.020113442093133926, 0.43125811219215393, -1.2155718803405762, 0.7887006998062134, -1.201838731765747, 0.9084840416908264, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4232471287250519, -1.2323567867279053, 0.6868467330932617, 0.9962233901023865, -1.1297398805618286, -1.3315403461456299, -0.018839124590158463, 0.018839124590158463, 0.43125811219215393, -1.2140458822250366, 0.7887006998062134, -1.202601671218872, 0.9096284508705139, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.438506156206131, -1.2232013940811157, 0.6761654019355774, 0.997367799282074, -1.1263065338134766, -1.3403143882751465, -0.017278751358389854, 0.017278751358389854, 0.43125811219215393, -1.2136644124984741, 0.7883192300796509, -1.202601671218872, 0.9111543297767639, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46177613735198975, -1.2178606986999512, 0.6708247661590576, 1.0038528442382812, -1.126688003540039, -1.350995659828186, -0.014575103297829628, 0.014575103297829628, 0.43125811219215393, -1.2136644124984741, 0.7887006998062134, -1.2029831409454346, 0.9111543297767639, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4846646785736084, -1.2174792289733887, 0.6677729487419128, 1.0084306001663208, -1.122873306274414, -1.3624398708343506, -0.009814179502427578, 0.009814179502427578, 0.43125811219215393, -1.2136644124984741, 0.7887006998062134, -1.203364610671997, 0.9111543297767639, 1.1415655612945557, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4991607666015625, -1.2201495170593262, 0.6654840707778931, 1.0107194185256958, -1.1198214292526245, -1.3670176267623901, -0.001923639327287674, 0.001923639327287674, 0.43125811219215393, -1.2132829427719116, 0.7883192300796509, -1.203364610671997, 0.9096284508705139, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506790280342102, -1.2182421684265137, 0.6628137826919556, 1.0065232515335083, -1.116388201713562, -1.3738842010498047, -0.0003620164352469146, 0.0003620164352469146, 0.43125811219215393, -1.2117570638656616, 0.7887006998062134, -1.203364610671997, 0.9088655114173889, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5106050372123718, -1.205653429031372, 0.6597619652748108, 1.0046159029006958, -1.121347427368164, -1.3776988983154297, -0.0003620164352469146, 0.0003620164352469146, 0.43125811219215393, -1.2087053060531616, 0.7883192300796509, -1.203364610671997, 0.9092469811439514, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5125123858451843, -1.177042841911316, 0.6525139212608337, 1.0038528442382812, -1.1350804567337036, -1.3826581239700317, -0.0003620164352469146, 0.0003620164352469146, 0.43125811219215393, -1.1987868547439575, 0.7887006998062134, -1.203364610671997, 0.916113555431366, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5136567950248718, -1.1354619264602661, 0.6376363635063171, 1.0030899047851562, -1.1499580144882202, -1.3899061679840088, -0.0003620164352469146, 0.0003620164352469146, 0.43125811219215393, -1.1774243116378784, 0.7879377603530884, -1.203364610671997, 0.9351872801780701, 1.1419470310211182, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5144197940826416, -1.0912108421325684, 0.6155108213424683, 1.0008010864257812, -1.1644541025161743, -1.4005874395370483, -0.0003620164352469146, 0.0003620164352469146, 0.43125811219215393, -1.1408026218414307, 0.7818341255187988, -1.2037460803985596, 0.9649423956871033, 1.1423285007476807, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5144197940826416, -1.056496500968933, 0.5937666893005371, 1.0011825561523438, -1.1751353740692139, -1.4127947092056274, -0.0003620164352469146, 0.0003620164352469146, 0.43125811219215393, -1.0954070091247559, 0.7749675512313843, -1.2037460803985596, 1.0019454956054688, 1.1427099704742432, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5132753252983093, -1.036659836769104, 0.5804150700569153, 1.0011825561523438, -1.181620478630066, -1.4200427532196045, -0.0003620164352469146, 0.0003620164352469146, 0.43125811219215393, -1.0378042459487915, 0.7631418108940125, -1.2102311849594116, 1.0538262128829956, 1.1587319374084473, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -1.0248340368270874, 0.5724040865898132, 1.0015640258789062, -1.1869611740112305, -1.427672266960144, -0.0003620164352469146, 0.0003620164352469146, 0.43163958191871643, -0.9668498039245605, 0.7475013136863708, -1.261730432510376, 1.112191915512085, 1.2098497152328491, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -1.0168230533599854, 0.5685893297195435, 1.0011825561523438, -1.1949721574783325, -1.4303425550460815, -0.0003620164352469146, 0.0003620164352469146, 0.43125811219215393, -0.8733882904052734, 0.7234683632850647, -1.3048371076583862, 1.1774243116378784, 1.2594414949417114, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -1.0069047212600708, 0.5651560425758362, 1.0015640258789062, -1.2117570638656616, -1.4337759017944336, -0.0003620164352469146, 0.0003620164352469146, 0.43163958191871643, -0.7810711860656738, 0.7017242908477783, -1.3300144672393799, 1.2525749206542969, 1.3109407424926758, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -0.9882124066352844, 0.5605783462524414, 1.0015640258789062, -1.2361714839935303, -1.437209129333496, -0.0003620164352469146, 0.0003620164352469146, 0.43163958191871643, -0.6994354128837585, 0.6845578551292419, -1.3513771295547485, 1.3296329975128174, 1.3639658689498901, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -0.9554055333137512, 0.5514228940010071, 1.0011825561523438, -1.265545129776001, -1.4414052963256836, -0.0003620164352469146, 0.0003620164352469146, 0.43163958191871643, -0.6311513185501099, 0.6696802973747253, -1.3593881130218506, 1.408979892730713, 1.413939118385315, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -0.9172579646110535, 0.5380712747573853, 1.0011825561523438, -1.2937743663787842, -1.4505608081817627, -0.0003620164352469146, 0.0003620164352469146, 0.43163958191871643, -0.5815594792366028, 0.6540398001670837, -1.3654917478561401, 1.4845120906829834, 1.4551384449005127, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -0.8871213793754578, 0.5270084738731384, 1.0011825561523438, -1.3235293626785278, -1.4600976705551147, -0.0003620164352469146, 0.0003620164352469146, 0.43163958191871643, -0.5525673031806946, 0.6353475451469421, -1.3632028102874756, 1.561570167541504, 1.4799343347549438, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -0.8680475950241089, 0.5182345509529114, 1.0011825561523438, -1.342984676361084, -1.4650568962097168, -0.0003620164352469146, 0.0003620164352469146, 0.43163958191871643, -0.5373083353042603, 0.6147478222846985, -1.3578622341156006, 1.6218433380126953, 1.495956301689148, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -0.8596551418304443, 0.5132753252983093, 1.0011825561523438, -1.354810357093811, -1.4677271842956543, -0.0003620164352469146, 0.0003620164352469146, 0.43163958191871643, -0.5312047004699707, 0.5949110984802246, -1.339551329612732, 1.6599907875061035, 1.5035858154296875, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -0.8569847941398621, 0.5098420977592468, 1.0011825561523438, -1.3616769313812256, -1.4707789421081543, -0.0003620164352469146, 0.0003620164352469146, 0.43163958191871643, -0.5289158225059509, 0.5739299654960632, -1.3261997699737549, 1.6832607984542847, 1.507400631904602, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -0.8592736721038818, 0.5064088106155396, 1.0011825561523438, -1.3654917478561401, -1.4707789421081543, -0.0003620164352469146, 0.0003620164352469146, 0.43163958191871643, -0.5289158225059509, 0.5548561811447144, -1.3120851516723633, 1.6966124773025513, 1.511215329170227, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5113679766654968, -0.8684290647506714, 0.5056458115577698, 1.0011825561523438, -1.3647288084030151, -1.4703974723815918, -0.0003620164352469146, 0.0003620164352469146, 0.43163958191871643, -0.5312047004699707, 0.535400927066803, -1.2941558361053467, 1.7027161121368408, 1.5119783878326416, -0.0006540609756484628, 0.0006540609756484628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5109865069389343, -0.8852140307426453, 0.506027340888977, 1.0015640258789062, -1.359769582748413, -1.4608606100082397, -0.0008912945631891489, 0.0008912945631891489, 0.43163958191871643, -0.541886031627655, 0.5151827335357666, -1.2834744453430176, 1.7053864002227783, 1.5142672061920166, -0.002722651930525899, 0.002722651930525899], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5014495849609375, -0.8993285894393921, 0.5102235674858093, 1.0011825561523438, -1.3570992946624756, -1.4471274614334106, -0.014556679874658585, 0.014556679874658585, 0.43163958191871643, -0.5529488325119019, 0.5006866455078125, -1.2811856269836426, 1.7004272937774658, 1.513885736465454, -0.013064001686871052, 0.013064001686871052], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4663538634777069, -0.8974212408065796, 0.5186160206794739, 1.0038528442382812, -1.3570992946624756, -1.431486964225769, -0.01824110932648182, 0.01824110932648182, 0.43163958191871643, -0.5624856948852539, 0.50030517578125, -1.2888151407241821, 1.6702907085418701, 1.513885736465454, -0.014926559291779995, 0.014926559291779995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4224841594696045, -0.8802548050880432, 0.5460822582244873, 1.0595483779907227, -1.3654917478561401, -1.429198145866394, -0.018211789429187775, 0.018211789429187775, 0.43163958191871643, -0.5628671646118164, 0.5292973518371582, -1.3227664232254028, 1.6458762884140015, 1.513885736465454, -0.014501453377306461, 0.014501453377306461], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3896772861480713, -0.8691920638084412, 0.5937666893005371, 1.1644541025161743, -1.359769582748413, -1.4482718706130981, -0.013880413956940174, 0.013880413956940174, 0.43163958191871643, -0.5544747114181519, 0.580033540725708, -1.3902876377105713, 1.5657663345336914, 1.513122797012329, -0.002534897066652775, 0.002534897066652775], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.361829549074173, -0.8794918656349182, 0.6506065726280212, 1.2342641353607178, -1.2964446544647217, -1.4597162008285522, -0.00173542695119977, 0.00173542695119977, 0.43163958191871643, -0.5533303022384644, 0.6239032745361328, -1.4604791402816772, 1.3948653936386108, 1.5115967988967896, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34695202112197876, -0.9153505563735962, 0.7097352743148804, 1.274319052696228, -1.186579704284668, -1.4566643238067627, -6.083200787543319e-05, 6.083200787543319e-05, 0.43163958191871643, -0.6071183085441589, 0.6689173579216003, -1.5035858154296875, 1.1900129318237305, 1.5108338594436646, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3385595381259918, -0.9752422571182251, 0.7673380374908447, 1.3014038801193237, -1.0496299266815186, -1.4398794174194336, -6.083200787543319e-05, 6.083200787543319e-05, 0.43125811219215393, -0.728427529335022, 0.7322422862052917, -1.5459296703338623, 1.0160601139068604, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3290226459503174, -1.044670820236206, 0.8215075731277466, 1.3132295608520508, -0.924887478351593, -1.4143205881118774, -6.083200787543319e-05, 6.083200787543319e-05, 0.43125811219215393, -0.8726252913475037, 0.8089188933372498, -1.5829328298568726, 0.9122987985610962, 1.512359857559204, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3057526648044586, -1.114099383354187, 0.8695735335350037, 1.3216220140457153, -0.8203631639480591, -1.3941023349761963, -6.083200787543319e-05, 6.083200787543319e-05, 0.4236285984516144, -1.0236896276474, 0.8943694233894348, -1.6111619472503662, 0.838674008846283, 1.5142672061920166, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.273708701133728, -1.190394401550293, 0.9199283123016357, 1.3281071186065674, -0.733386754989624, -1.3807507753372192, -6.083200787543319e-05, 6.083200787543319e-05, 0.4003585875034332, -1.1388952732086182, 0.9573128819465637, -1.6245136260986328, 0.768482506275177, 1.513885736465454, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24967575073242188, -1.2609673738479614, 0.9630350470542908, 1.3292515277862549, -0.6681544184684753, -1.3666361570358276, -6.083200787543319e-05, 6.083200787543319e-05, 0.3686961233615875, -1.2277790307998657, 1.0034713745117188, -1.6233692169189453, 0.6994354128837585, 1.5135042667388916, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -1.3227664232254028, 0.9954604506492615, 1.332684874534607, -0.6147478222846985, -1.345273494720459, -6.083200787543319e-05, 6.083200787543319e-05, 0.3389410376548767, -1.3094148635864258, 1.049248456954956, -1.6149767637252808, 0.6475547552108765, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22182802855968475, -1.3796063661575317, 1.0206378698349, 1.3338292837142944, -0.5708781480789185, -1.332684874534607, -6.083200787543319e-05, 6.083200787543319e-05, 0.3217746317386627, -1.3773174285888672, 1.0824369192123413, -1.6081101894378662, 0.615129292011261, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.212672621011734, -1.4326313734054565, 1.047722578048706, 1.335736632347107, -0.5403600931167603, -1.3197146654129028, -6.083200787543319e-05, 6.083200787543319e-05, 0.31414511799812317, -1.4318684339523315, 1.104943871498108, -1.6039139032363892, 0.5807965397834778, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20656901597976685, -1.4795528650283813, 1.0740443468093872, 1.3353551626205444, -0.5231937170028687, -1.3117036819458008, -6.083200787543319e-05, 6.083200787543319e-05, 0.308804452419281, -1.4726864099502563, 1.119439959526062, -1.6004806756973267, 0.5468451976776123, 1.510452389717102, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20428015291690826, -1.519226312637329, 1.0961699485778809, 1.335736632347107, -0.5151827335357666, -1.3044556379318237, -6.083200787543319e-05, 6.083200787543319e-05, 0.30460822582244873, -1.5028228759765625, 1.128213882446289, -1.6000992059707642, 0.5109865069389343, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20199130475521088, -1.5501258373260498, 1.114099383354187, 1.3353551626205444, -0.5064088106155396, -1.2972075939178467, -6.083200787543319e-05, 6.083200787543319e-05, 0.30270084738731384, -1.5280003547668457, 1.1396582126617432, -1.5997177362442017, 0.47856107354164124, 1.5108338594436646, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20122835040092468, -1.5756847858428955, 1.126688003540039, 1.334973692893982, -0.5029755234718323, -1.2933928966522217, -6.083200787543319e-05, 6.083200787543319e-05, 0.30079346895217896, -1.5550850629806519, 1.1556801795959473, -1.5970473289489746, 0.46025025844573975, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.595139980316162, 1.1339360475540161, 1.334973692893982, -0.499542236328125, -1.2899595499038696, -6.083200787543319e-05, 6.083200787543319e-05, 0.2973601818084717, -1.58407723903656, 1.177042841911316, -1.5970473289489746, 0.4484245181083679, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.6092545986175537, 1.1385138034820557, 1.334973692893982, -0.49458304047584534, -1.2895780801773071, -6.083200787543319e-05, 6.083200787543319e-05, 0.2935454249382019, -1.6126878261566162, 1.201075792312622, -1.597428798675537, 0.44117647409439087, 1.510452389717102, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.6206988096237183, 1.1419470310211182, 1.334973692893982, -0.4880979657173157, -1.2865263223648071, -6.083200787543319e-05, 6.083200787543319e-05, 0.290875107049942, -1.6424429416656494, 1.2243458032608032, -1.597428798675537, 0.4358358085155487, 1.510452389717102, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.6344319581985474, 1.1484321355819702, 1.334973692893982, -0.4827573001384735, -1.2865263223648071, -6.083200787543319e-05, 6.083200787543319e-05, 0.28973066806793213, -1.6710536479949951, 1.2445639371871948, -1.597428798675537, 0.4339284300804138, 1.510452389717102, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.6474021673202515, 1.1587319374084473, 1.3338292837142944, -0.47665369510650635, -1.2865263223648071, -6.083200787543319e-05, 6.083200787543319e-05, 0.28820478916168213, -1.6981383562088013, 1.2609673738479614, -1.597428798675537, 0.43202105164527893, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.6634241342544556, 1.1720836162567139, 1.3311588764190674, -0.4697871506214142, -1.2861448526382446, -6.083200787543319e-05, 6.083200787543319e-05, 0.28706035017967224, -1.721789836883545, 1.2731746435165405, -1.597428798675537, 0.43087664246559143, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.6798275709152222, 1.1869611740112305, 1.3303959369659424, -0.4648279547691345, -1.2861448526382446, -6.083200787543319e-05, 6.083200787543319e-05, 0.28629741072654724, -1.7401007413864136, 1.28233003616333, -1.597428798675537, 0.43163958191871643, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.6969939470291138, 1.2045090198516846, 1.3307774066925049, -0.4663538634777069, -1.2861448526382446, -6.083200787543319e-05, 6.083200787543319e-05, 0.28515297174453735, -1.7565041780471802, 1.2926298379898071, -1.5978103876113892, 0.4247730076313019, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.7160677909851074, 1.2239643335342407, 1.3311588764190674, -0.4701686203479767, -1.2861448526382446, -6.083200787543319e-05, 6.083200787543319e-05, 0.28248265385627747, -1.7729076147079468, 1.3025482892990112, -1.5978103876113892, 0.4175249934196472, 1.510452389717102, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.732471227645874, 1.2380788326263428, 1.3311588764190674, -0.4701686203479767, -1.2861448526382446, -6.083200787543319e-05, 6.083200787543319e-05, 0.2786678969860077, -1.7847332954406738, 1.3128480911254883, -1.597428798675537, 0.4209582805633545, 1.510452389717102, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.7454413175582886, 1.2502861022949219, 1.3311588764190674, -0.4697871506214142, -1.2861448526382446, -6.083200787543319e-05, 6.083200787543319e-05, 0.273708701133728, -1.7973220348358154, 1.3239108324050903, -1.5970473289489746, 0.42515450716018677, 1.510452389717102, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.7587929964065552, 1.266308069229126, 1.3311588764190674, -0.4709315598011017, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.26951247453689575, -1.80571448802948, 1.3338292837142944, -1.596665859222412, 0.42744335532188416, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.7732890844345093, 1.2903410196304321, 1.3323034048080444, -0.4800869822502136, -1.2861448526382446, -6.083200787543319e-05, 6.083200787543319e-05, 0.265697717666626, -1.8110551834106445, 1.339932918548584, -1.58712899684906, 0.42973220348358154, 1.5108338594436646, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.7896925210952759, 1.3216220140457153, 1.334973692893982, -0.4972533881664276, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.2622644305229187, -1.813725471496582, 1.3426032066345215, -1.576066255569458, 0.43125811219215393, 1.511215329170227, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.8053330183029175, 1.350995659828186, 1.335736632347107, -0.5094605684280396, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.2599755823612213, -1.815251350402832, 1.344510555267334, -1.569581151008606, 0.43202105164527893, 1.511215329170227, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.820210576057434, 1.3792248964309692, 1.336499571800232, -0.5163271427154541, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.2588311731815338, -1.816014289855957, 1.345273494720459, -1.564621925354004, 0.4331654906272888, 1.5115967988967896, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.8312733173370361, 1.4009689092636108, 1.336499571800232, -0.5224307775497437, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.2576867341995239, -1.8167773485183716, 1.345273494720459, -1.563096046447754, 0.43240252137184143, 1.5127413272857666, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.8339437246322632, 1.412413239479065, 1.336499571800232, -0.5231937170028687, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.2576867341995239, -1.8148698806762695, 1.345273494720459, -1.562333106994629, 0.43087664246559143, 1.5142672061920166, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.823262333869934, 1.41622793674469, 1.339932918548584, -0.5380712747573853, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.2576867341995239, -1.8060959577560425, 1.344510555267334, -1.5588998794555664, 0.42668038606643677, 1.5142672061920166, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.7965590953826904, 1.418135404586792, 1.3426032066345215, -0.5415045619010925, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.2576867341995239, -1.7839703559875488, 1.3410773277282715, -1.5573738813400269, 0.4331654906272888, 1.5142672061920166, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1993209719657898, -1.7618448734283447, 1.4150835275650024, 1.3391698598861694, -0.5266270041465759, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.25577935576438904, -1.7462043762207031, 1.342984676361084, -1.5505073070526123, 0.41523614525794983, 1.5142672061920166, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.715686321258545, 1.4013503789901733, 1.337262511253357, -0.5205233693122864, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.2576867341995239, -1.6985198259353638, 1.3426032066345215, -1.5432593822479248, 0.4232471287250519, 1.5142672061920166, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1997024416923523, -1.6626611948013306, 1.3773174285888672, 1.335736632347107, -0.5136567950248718, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.2599755823612213, -1.6401541233062744, 1.342221736907959, -1.5478370189666748, 0.4556725323200226, 1.513885736465454, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.200083926320076, -1.597428798675537, 1.342984676361084, 1.3353551626205444, -0.4991607666015625, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.2588311731815338, -1.5882734060287476, 1.337262511253357, -1.5901808738708496, 0.541886031627655, 1.5135042667388916, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20428015291690826, -1.5238040685653687, 1.2888151407241821, 1.3353551626205444, -0.4991607666015625, -1.2861448526382446, -6.083200787543319e-05, 6.083200787543319e-05, 0.2569237947463989, -1.5291447639465332, 1.3181887865066528, -1.6294728517532349, 0.6368734240531921, 1.5020599365234375, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21076524257659912, -1.4383535385131836, 1.2193865776062012, 1.3345922231674194, -0.49420157074928284, -1.2937743663787842, -6.083200787543319e-05, 6.083200787543319e-05, 0.2580682039260864, -1.4608606100082397, 1.2548638582229614, -1.655031681060791, 0.7188906669616699, 1.4909971952438354, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22411687672138214, -1.346799373626709, 1.1373693943023682, 1.334210753440857, -0.4964904189109802, -1.3059815168380737, -6.083200787543319e-05, 6.083200787543319e-05, 0.2584496736526489, -1.3933393955230713, 1.1758984327316284, -1.6702907085418701, 0.7566567659378052, 1.4814603328704834, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24280919134616852, -1.2571526765823364, 1.050774335861206, 1.3338292837142944, -0.5018310546875, -1.3189517259597778, -6.083200787543319e-05, 6.083200787543319e-05, 0.2580682039260864, -1.344510555267334, 1.104180932044983, -1.6790646314620972, 0.7665750980377197, 1.4757381677627563, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.266460657119751, -1.1736094951629639, 0.9737163186073303, 1.332684874534607, -0.5033569931983948, -1.336499571800232, -6.083200787543319e-05, 6.083200787543319e-05, 0.2576867341995239, -1.3220034837722778, 1.046959638595581, -1.6821163892745972, 0.7570382356643677, 1.4726864099502563, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.291638046503067, -1.101129174232483, 0.9092469811439514, 1.3323034048080444, -0.5048828721046448, -1.3471808433532715, -6.083200787543319e-05, 6.083200787543319e-05, 0.2576867341995239, -1.3143739700317383, 1.0126268863677979, -1.6836423873901367, 0.7219424843788147, 1.4723048210144043, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.308804452419281, -1.0450522899627686, 0.8558403849601746, 1.3323034048080444, -0.5102235674858093, -1.3555734157562256, -6.083200787543319e-05, 6.083200787543319e-05, 0.2576867341995239, -1.3212405443191528, 0.9927901029586792, -1.6840238571166992, 0.6937133073806763, 1.4719233512878418, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.31795987486839294, -1.0053788423538208, 0.8154039978981018, 1.332684874534607, -0.5159456729888916, -1.362821340560913, -6.083200787543319e-05, 6.083200787543319e-05, 0.2576867341995239, -1.336499571800232, 0.9813458323478699, -1.6847867965698242, 0.6803616285324097, 1.4715418815612793, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3225375711917877, -0.9805828928947449, 0.7871748208999634, 1.332684874534607, -0.5273899435997009, -1.3681620359420776, -6.083200787543319e-05, 6.083200787543319e-05, 0.25654229521751404, -1.354047417640686, 0.9760051965713501, -1.6901273727416992, 0.6647211313247681, 1.4692530632019043, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3255893886089325, -0.9637979865074158, 0.7654306888580322, 1.334973692893982, -0.5350194573402405, -1.3700693845748901, -6.083200787543319e-05, 6.083200787543319e-05, 0.25158312916755676, -1.3677805662155151, 0.970283031463623, -1.6973754167556763, 0.6517509818077087, 1.4692530632019043, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.32673379778862, -0.9546425342559814, 0.7539864182472229, 1.334210753440857, -0.5407415628433228, -1.3731212615966797, -6.083200787543319e-05, 6.083200787543319e-05, 0.24242770671844482, -1.3761730194091797, 0.9660868048667908, -1.6985198259353638, 0.6349660754203796, 1.4692530632019043, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9500648379325867, 0.7471198439598083, 1.3345922231674194, -0.5453193187713623, -1.3731212615966797, -6.083200787543319e-05, 6.083200787543319e-05, 0.23365376889705658, -1.3811322450637817, 0.9641794562339783, -1.7011902332305908, 0.614366352558136, 1.4692530632019043, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3282597064971924, -0.9489204287528992, 0.7417792081832886, 1.3330663442611694, -0.5483710765838623, -1.3735027313232422, -6.083200787543319e-05, 6.083200787543319e-05, 0.22678720951080322, -1.3860913515090942, 0.9626535177230835, -1.7027161121368408, 0.5998703241348267, 1.4692530632019043, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9489204287528992, 0.7364385724067688, 1.3330663442611694, -0.5487525463104248, -1.3735027313232422, -6.083200787543319e-05, 6.083200787543319e-05, 0.22297245264053345, -1.3933393955230713, 0.962272047996521, -1.7030975818634033, 0.5910963416099548, 1.4692530632019043, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9489204287528992, 0.7318608164787292, 1.3330663442611694, -0.5498970150947571, -1.3742656707763672, -6.083200787543319e-05, 6.083200787543319e-05, 0.22068360447883606, -1.4047837257385254, 0.9611276388168335, -1.7042419910430908, 0.5838482975959778, 1.4696345329284668, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9477760195732117, 0.727664589881897, 1.3330663442611694, -0.5518043637275696, -1.3742656707763672, -6.083200787543319e-05, 6.083200787543319e-05, 0.21915769577026367, -1.4158464670181274, 0.959220290184021, -1.7050049304962158, 0.5796520709991455, 1.4696345329284668, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9466315507888794, 0.724612832069397, 1.3330663442611694, -0.5521858334541321, -1.3742656707763672, -6.083200787543319e-05, 6.083200787543319e-05, 0.21801327168941498, -1.426146388053894, 0.9546425342559814, -1.7053864002227783, 0.5781261920928955, 1.4696345329284668, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3282597064971924, -0.9462500810623169, 0.7227054238319397, 1.3330663442611694, -0.5514228940010071, -1.3742656707763672, -6.083200787543319e-05, 6.083200787543319e-05, 0.21763180196285248, -1.434157371520996, 0.9470130205154419, -1.7053864002227783, 0.5781261920928955, 1.4696345329284668, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3282597064971924, -0.9462500810623169, 0.7215610146522522, 1.333447813987732, -0.5518043637275696, -1.3742656707763672, -6.083200787543319e-05, 6.083200787543319e-05, 0.21763180196285248, -1.4368276596069336, 0.9374761581420898, -1.7053864002227783, 0.5807965397834778, 1.4696345329284668, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3282597064971924, -0.9462500810623169, 0.7204165458679199, 1.333447813987732, -0.5518043637275696, -1.3742656707763672, -6.083200787543319e-05, 6.083200787543319e-05, 0.21763180196285248, -1.437209129333496, 0.9309910535812378, -1.7053864002227783, 0.5865186452865601, 1.4700160026550293, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3282597064971924, -0.9466315507888794, 0.7204165458679199, 1.333447813987732, -0.5518043637275696, -1.3742656707763672, -6.083200787543319e-05, 6.083200787543319e-05, 0.21763180196285248, -1.433012843132019, 0.9267948269844055, -1.6958495378494263, 0.6029220819473267, 1.4700160026550293, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3282597064971924, -0.9489204287528992, 0.7200350761413574, 1.333447813987732, -0.5514228940010071, -1.3738842010498047, -6.083200787543319e-05, 6.083200787543319e-05, 0.21725031733512878, -1.4246203899383545, 0.9229800701141357, -1.666094422340393, 0.6212329268455505, 1.4703974723815918, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.952735185623169, 0.7200350761413574, 1.333447813987732, -0.5510414242744446, -1.3738842010498047, -6.083200787543319e-05, 6.083200787543319e-05, 0.21725031733512878, -1.41470205783844, 0.9206912517547607, -1.6252765655517578, 0.6387808322906494, 1.4707789421081543, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9561684727668762, 0.7196536064147949, 1.333447813987732, -0.5510414242744446, -1.3738842010498047, -6.083200787543319e-05, 6.083200787543319e-05, 0.21725031733512878, -1.406691074371338, 0.919165313243866, -1.5852216482162476, 0.6536583304405212, 1.4715418815612793, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9596017599105835, 0.7177462577819824, 1.333447813987732, -0.5510414242744446, -1.3735027313232422, -6.083200787543319e-05, 6.083200787543319e-05, 0.21763180196285248, -1.4002059698104858, 0.9187838435173035, -1.5478370189666748, 0.6609063744544983, 1.4719233512878418, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9634165167808533, 0.7166017889976501, 1.333447813987732, -0.5506599545478821, -1.3735027313232422, -6.083200787543319e-05, 6.083200787543319e-05, 0.21725031733512878, -1.3960098028182983, 0.9187838435173035, -1.519226312637329, 0.6715877056121826, 1.4723048210144043, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9676127433776855, 0.7154573798179626, 1.333447813987732, -0.5514228940010071, -1.3735027313232422, -6.083200787543319e-05, 6.083200787543319e-05, 0.21725031733512878, -1.3918135166168213, 0.9187838435173035, -1.497100830078125, 0.6845578551292419, 1.4719233512878418, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3282597064971924, -0.9706645011901855, 0.7139315009117126, 1.333447813987732, -0.5510414242744446, -1.3731212615966797, -6.083200787543319e-05, 6.083200787543319e-05, 0.21763180196285248, -1.3864728212356567, 0.9187838435173035, -1.4761196374893188, 0.6952391862869263, 1.4719233512878418, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3282597064971924, -0.9725719094276428, 0.7127870321273804, 1.333447813987732, -0.5510414242744446, -1.3731212615966797, -6.083200787543319e-05, 6.083200787543319e-05, 0.21725031733512878, -1.3807507753372192, 0.9187838435173035, -1.4631494283676147, 0.699816882610321, 1.4719233512878418, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9737163186073303, 0.7112611532211304, 1.333447813987732, -0.5510414242744446, -1.3731212615966797, -6.083200787543319e-05, 6.083200787543319e-05, 0.21725031733512878, -1.3719768524169922, 0.9187838435173035, -1.4616235494613647, 0.7028687000274658, 1.4719233512878418, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9740977883338928, 0.7097352743148804, 1.333447813987732, -0.5514228940010071, -1.3731212615966797, -6.083200787543319e-05, 6.083200787543319e-05, 0.21686884760856628, -1.358243703842163, 0.9195467829704285, -1.4681086540222168, 0.7032501697540283, 1.4711604118347168, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9744792580604553, 0.7089722752571106, 1.3338292837142944, -0.5510414242744446, -1.3731212615966797, -6.083200787543319e-05, 6.083200787543319e-05, 0.2138170450925827, -1.342984676361084, 0.9199283123016357, -1.4734493494033813, 0.7017242908477783, 1.4711604118347168, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3282597064971924, -0.9744792580604553, 0.7085908055305481, 1.333447813987732, -0.5510414242744446, -1.3731212615966797, -6.083200787543319e-05, 6.083200787543319e-05, 0.20809490978717804, -1.3277256488800049, 0.9210727214813232, -1.4806973934173584, 0.6937133073806763, 1.4703974723815918, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -0.9725719094276428, 0.7074463963508606, 1.333447813987732, -0.5510414242744446, -1.3731212615966797, -6.083200787543319e-05, 6.083200787543319e-05, 0.19398032128810883, -1.3139925003051758, 0.9222171306610107, -1.4940489530563354, 0.6815060377120972, 1.4696345329284668, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3282597064971924, -0.970283031463623, 0.7066834568977356, 1.333447813987732, -0.5506599545478821, -1.3731212615966797, -6.083200787543319e-05, 6.083200787543319e-05, 0.17643244564533234, -1.2968261241912842, 0.9225986003875732, -1.5035858154296875, 0.6704432964324951, 1.4696345329284668, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3271152675151825, -0.9653238654136658, 0.7028687000274658, 1.333447813987732, -0.5479896068572998, -1.3731212615966797, -6.083200787543319e-05, 6.083200787543319e-05, 0.1653696447610855, -1.2674524784088135, 0.9218356609344482, -1.5070191621780396, 0.6525139212608337, 1.4700160026550293, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3061341345310211, -0.9554055333137512, 0.697528064250946, 1.3323034048080444, -0.5415045619010925, -1.405928134918213, -6.083200787543319e-05, 6.083200787543319e-05, 0.16041046380996704, -1.2212939262390137, 0.919165313243866, -1.495193362236023, 0.6280995011329651, 1.4700160026550293, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.26722362637519836, -0.9485389590263367, 0.691042959690094, 1.332684874534607, -0.54112309217453, -1.4524681568145752, -6.083200787543319e-05, 6.083200787543319e-05, 0.15735866129398346, -1.1709392070770264, 0.917639434337616, -1.4703974723815918, 0.614366352558136, 1.4696345329284668, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21725031733512878, -0.9515907764434814, 0.6879911422729492, 1.3323034048080444, -0.5407415628433228, -1.483367681503296, -6.083200787543319e-05, 6.083200787543319e-05, 0.14591439068317413, -1.1335545778274536, 0.9145876169204712, -1.350995659828186, 0.6292439103126526, 1.3765544891357422, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1657511293888092, -0.9779125452041626, 0.6960021257400513, 1.3323034048080444, -0.536926805973053, -1.497100830078125, -6.083200787543319e-05, 6.083200787543319e-05, 0.12569619715213776, -1.1144808530807495, 0.9111543297767639, -1.1411840915679932, 0.699053943157196, 1.2052719593048096, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12493324279785156, -1.0225452184677124, 0.7143129706382751, 1.3323034048080444, -0.534637987613678, -1.5020599365234375, -6.083200787543319e-05, 6.083200787543319e-05, 0.11615930497646332, -1.099603295326233, 0.9042877554893494, -1.0027084350585938, 0.7463569045066833, 1.0942625999450684, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10585946589708328, -1.0664149522781372, 0.7303349375724792, 1.3323034048080444, -0.5407415628433228, -1.5150301456451416, -6.083200787543319e-05, 6.083200787543319e-05, 0.11081864684820175, -1.0919737815856934, 0.8939879536628723, -0.9260318875312805, 0.7738231420516968, 1.030937671661377, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11654078215360641, -1.098840355873108, 0.7364385724067688, 1.3315403461456299, -0.5395971536636353, -1.5196079015731812, -6.083200787543319e-05, 6.083200787543319e-05, 0.10738536715507507, -1.0881589651107788, 0.881780743598938, -0.882543683052063, 0.7921339869499207, 0.9954604506492615, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13027389347553253, -1.1297398805618286, 0.7459754347801208, 1.3303959369659424, -0.5094605684280396, -1.5157930850982666, -6.083200787543319e-05, 6.083200787543319e-05, 0.10738536715507507, -1.0858701467514038, 0.8718623518943787, -0.8539330363273621, 0.7997635006904602, 0.9744792580604553, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1367589831352234, -1.1720836162567139, 0.770771324634552, 1.3311588764190674, -0.4846646785736084, -1.4993896484375, -6.083200787543319e-05, 6.083200787543319e-05, 0.10662241280078888, -1.0847257375717163, 0.8638513684272766, -0.840199887752533, 0.8081559538841248, 0.9626535177230835, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14019227027893066, -1.2216753959655762, 0.8024337887763977, 1.3303959369659424, -0.4549095928668976, -1.4730678796768188, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0828183889389038, 0.8566033244132996, -0.8325703740119934, 0.811589241027832, 0.9554055333137512, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13752193748950958, -1.276607871055603, 0.837911069393158, 1.3311588764190674, -0.4209582805633545, -1.4433127641677856, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0816738605499268, 0.8516441583633423, -0.8260852694511414, 0.8127336502075195, 0.951972246170044, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13218127191066742, -1.334973692893982, 0.8749141693115234, 1.3315403461456299, -0.3995956480503082, -1.406691074371338, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0809109210968018, 0.84744793176651, -0.8226520419120789, 0.8157854676246643, 0.9485389590263367, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12378881871700287, -1.3929579257965088, 0.9073395729064941, 1.3311588764190674, -0.3778515160083771, -1.3708323240280151, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0809109210968018, 0.8440146446228027, -0.8215075731277466, 0.8157854676246643, 0.9485389590263367, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11348897218704224, -1.4490348100662231, 0.9363317489624023, 1.3319218158721924, -0.3603036403656006, -1.346799373626709, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0820554494857788, 0.8421072959899902, -0.8211261034011841, 0.8161669373512268, 0.9481574892997742, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1028076633810997, -1.494430422782898, 0.9565499424934387, 1.3319218158721924, -0.35076677799224854, -1.3330663442611694, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0824369192123413, 0.8398184180259705, -0.8192187547683716, 0.8184558153152466, 0.9477760195732117, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09327077120542526, -1.5264743566513062, 0.9664682745933533, 1.3319218158721924, -0.3419928252696991, -1.3162813186645508, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0831998586654663, 0.837911069393158, -0.8192187547683716, 0.8184558153152466, 0.9454871416091919, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08525978773832321, -1.5451667308807373, 0.9714275002479553, 1.3311588764190674, -0.3263523280620575, -1.3044556379318237, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0866330862045288, 0.8363851308822632, -0.8196002244949341, 0.8184558153152466, 0.9447242021560669, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07991912961006165, -1.5547035932540894, 0.9733348488807678, 1.3281071186065674, -0.308041512966156, -1.2933928966522217, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0900664329528809, 0.8360036611557007, -0.8196002244949341, 0.8184558153152466, 0.9447242021560669, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07648584991693497, -1.5619516372680664, 0.9752422571182251, 1.3292515277862549, -0.28973066806793213, -1.28385591506958, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0942625999450684, 0.8360036611557007, -0.8196002244949341, 0.8184558153152466, 0.9451056718826294, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07457847148180008, -1.568818211555481, 0.9809643626213074, 1.3315403461456299, -0.2748531401157379, -1.2724117040634155, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.098077416419983, 0.8352407217025757, -0.8196002244949341, 0.8184558153152466, 0.9451056718826294, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07381551712751389, -1.574158787727356, 0.9874494671821594, 1.332684874534607, -0.2645532786846161, -1.261730432510376, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.100366234779358, 0.8337147831916809, -0.8199816942214966, 0.8184558153152466, 0.9451056718826294, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07343403995037079, -1.5779736042022705, 0.9905012845993042, 1.335736632347107, -0.25234606862068176, -1.2438009977340698, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1015106439590454, 0.8329518437385559, -0.8196002244949341, 0.8180742859840393, 0.9451056718826294, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07305257022380829, -1.5787365436553955, 0.9931715726852417, 1.335736632347107, -0.23441672325134277, -1.2296863794326782, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1045624017715454, 0.8314259648323059, -0.8207446336746216, 0.8184558153152466, 0.9454871416091919, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07534141838550568, -1.5691996812820435, 0.9939345121383667, 1.3353551626205444, -0.22373540699481964, -1.2209124565124512, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1079957485198975, 0.8302815556526184, -0.8203631639480591, 0.8180742859840393, 0.9454871416091919, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08602273464202881, -1.5421148538589478, 0.994316041469574, 1.334973692893982, -0.2141985148191452, -1.2148088216781616, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.110666036605835, 0.8283741474151611, -0.8207446336746216, 0.8180742859840393, 0.9458686113357544, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09975585341453552, -1.4993896484375, 0.9927901029586792, 1.3345922231674194, -0.2149614691734314, -1.2113755941390991, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1110475063323975, 0.8272297382354736, -0.8211261034011841, 0.8180742859840393, 0.9462500810623169, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11425192654132843, -1.4539940357208252, 0.9813458323478699, 1.3323034048080444, -0.25310903787612915, -1.2106126546859741, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.110666036605835, 0.8260852694511414, -0.8218890428543091, 0.8180742859840393, 0.9489204287528992, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12645913660526276, -1.4185168743133545, 0.9657053351402283, 1.3319218158721924, -0.31376364827156067, -1.2079423666000366, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1110475063323975, 0.8257037997245789, -0.8226520419120789, 0.8180742859840393, 0.9485389590263367, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1325627565383911, -1.3937208652496338, 0.9424353241920471, 1.3323034048080444, -0.3881513774394989, -1.2079423666000366, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.11295485496521, 0.8257037997245789, -0.8253223299980164, 0.8180742859840393, 0.9485389590263367, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1356145590543747, -1.3727397918701172, 0.9119172692298889, 1.3323034048080444, -0.43049514293670654, -1.2079423666000366, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.115625262260437, 0.8253223299980164, -0.8268482685089111, 0.8180742859840393, 0.9485389590263367, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14019227027893066, -1.3601510524749756, 0.8875028491020203, 1.332684874534607, -0.4503318965435028, -1.2113755941390991, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.119439959526062, 0.8253223299980164, -0.8302815556526184, 0.8180742859840393, 0.9481574892997742, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14438849687576294, -1.354047417640686, 0.8718623518943787, 1.3330663442611694, -0.4640650153160095, -1.2186236381530762, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.122873306274414, 0.8253223299980164, -0.8318074345588684, 0.8180742859840393, 0.9477760195732117, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1516365259885788, -1.351758599281311, 0.8646143078804016, 1.3323034048080444, -0.4678797721862793, -1.2235828638076782, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1255435943603516, 0.8245593905448914, -0.8337147831916809, 0.8180742859840393, 0.9473945498466492, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15545128285884857, -1.3521400690078735, 0.8604180812835693, 1.3323034048080444, -0.4705500900745392, -1.2243458032608032, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1263065338134766, 0.8241779208183289, -0.8344777822494507, 0.8176928162574768, 0.9447242021560669, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15774014592170715, -1.3555734157562256, 0.8566033244132996, 1.3323034048080444, -0.4736018776893616, -1.2266346216201782, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.126688003540039, 0.8234149813652039, -0.8344777822494507, 0.8176928162574768, 0.9447242021560669, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15850308537483215, -1.3601510524749756, 0.8512626886367798, 1.3323034048080444, -0.47512778639793396, -1.2251087427139282, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1263065338134766, 0.8234149813652039, -0.8360036611557007, 0.8180742859840393, 0.9447242021560669, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15926603972911835, -1.3689249753952026, 0.84592205286026, 1.3323034048080444, -0.47550925612449646, -1.2186236381530762, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1263065338134766, 0.8226520419120789, -0.8363851308822632, 0.8180742859840393, 0.9451056718826294, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15926603972911835, -1.3799878358840942, 0.8413442969322205, 1.3323034048080444, -0.47436484694480896, -1.2148088216781616, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1263065338134766, 0.8211261034011841, -0.8363851308822632, 0.8180742859840393, 0.9451056718826294, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16193637251853943, -1.3906691074371338, 0.8382925391197205, 1.3323034048080444, -0.4667353332042694, -1.2140458822250366, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.125925064086914, 0.8203631639480591, -0.8363851308822632, 0.8180742859840393, 0.9451056718826294, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1676585078239441, -1.3948653936386108, 0.8363851308822632, 1.3323034048080444, -0.45872434973716736, -1.2167162895202637, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1247806549072266, 0.8184558153152466, -0.8360036611557007, 0.8180742859840393, 0.9451056718826294, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.182917520403862, -1.3956283330917358, 0.8352407217025757, 1.3345922231674194, -0.45643550157546997, -1.2319753170013428, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.124399185180664, 0.8169298768043518, -0.8360036611557007, 0.8180742859840393, 0.9454871416091919, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20237277448177338, -1.3914320468902588, 0.8344777822494507, 1.3323034048080444, -0.4701686203479767, -1.2476158142089844, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1240177154541016, 0.8161669373512268, -0.8360036611557007, 0.8184558153152466, 0.9454871416091919, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21877622604370117, -1.3857098817825317, 0.8340963125228882, 1.3323034048080444, -0.4869535267353058, -1.264019250869751, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.122873306274414, 0.8150225281715393, -0.8356221914291382, 0.8184558153152466, 0.9458686113357544, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2283131182193756, -1.3796063661575317, 0.8333333134651184, 1.3315403461456299, -0.5025940537452698, -1.27775239944458, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.122873306274414, 0.8146410584449768, -0.8356221914291382, 0.8180742859840393, 0.9458686113357544, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23365376889705658, -1.3738842010498047, 0.8310444951057434, 1.3319218158721924, -0.5148012638092041, -1.2869077920913696, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.122873306274414, 0.813878059387207, -0.8356221914291382, 0.8180742859840393, 0.9489204287528992, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23632410168647766, -1.3681620359420776, 0.8299000263214111, 1.3319218158721924, -0.5254825949668884, -1.2899595499038696, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.122873306274414, 0.8127336502075195, -0.8356221914291382, 0.8180742859840393, 0.9489204287528992, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23708705604076385, -1.362058401107788, 0.8333333134651184, 1.3323034048080444, -0.5258640646934509, -1.2857633829116821, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.122873306274414, 0.8127336502075195, -0.8356221914291382, 0.8180742859840393, 0.9489204287528992, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22716869413852692, -1.3551918268203735, 0.8501182794570923, 1.3319218158721924, -0.5205233693122864, -1.269741415977478, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.122873306274414, 0.812352180480957, -0.8356221914291382, 0.8180742859840393, 0.9485389590263367, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20618753135204315, -1.3464179039001465, 0.8772030472755432, 1.3323034048080444, -0.5178530812263489, -1.258297085762024, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.122873306274414, 0.812352180480957, -0.8356221914291382, 0.8180742859840393, 0.9481574892997742, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17605096101760864, -1.3391698598861694, 0.9054322242736816, 1.3319218158721924, -0.5109865069389343, -1.2483787536621094, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.1198214292526245, 0.8119707107543945, -0.8356221914291382, 0.8173113465309143, 0.9481574892997742, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12836651504039764, -1.339551329612732, 0.9229800701141357, 1.3323034048080444, -0.5025940537452698, -1.2472343444824219, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.102655053138733, 0.8093003630638123, -0.8352407217025757, 0.80357825756073, 0.9473945498466492, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08068207651376724, -1.350995659828186, 0.9306095838546753, 1.332684874534607, -0.4976348578929901, -1.2739375829696655, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0782406330108643, 0.8001449704170227, -0.8337147831916809, 0.7738231420516968, 0.9447242021560669, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04139009863138199, -1.3693064451217651, 0.9359502792358398, 1.333447813987732, -0.49076828360557556, -1.2994964122772217, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0614557266235352, 0.7913710474967957, -0.8337147831916809, 0.7455939650535583, 0.9447242021560669, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02231631986796856, -1.3876173496246338, 0.9370946884155273, 1.3338292837142944, -0.4839017391204834, -1.3151369094848633, -6.083200787543319e-05, 6.083200787543319e-05, 0.10547798871994019, -1.0538262128829956, 0.7852674126625061, -0.8325703740119934, 0.7360570430755615, 0.9451056718826294, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.014686808921396732, -1.3910505771636963, 0.9321355223655701, 1.3323034048080444, -0.4812313914299011, -1.338025450706482, -6.083200787543319e-05, 6.083200787543319e-05, 0.10204470902681351, -1.0423818826675415, 0.7768749594688416, -0.8295185565948486, 0.734149694442749, 0.9454871416091919, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -1.3677805662155151, 0.9119172692298889, 1.3323034048080444, -0.482375830411911, -1.3757915496826172, -6.083200787543319e-05, 6.083200787543319e-05, 0.05245288833975792, -1.02216374874115, 0.7520790696144104, -0.7845044732093811, 0.7227054238319397, 0.9531166553497314, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02193484455347061, -1.3189517259597778, 0.8730067610740662, 1.3319218158721924, -0.49038681387901306, -1.421187162399292, -6.083200787543319e-05, 6.083200787543319e-05, -0.034142062067985535, -1.0164415836334229, 0.7238498330116272, -0.7135500311851501, 0.7089722752571106, 0.9580758213996887, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.031090257689356804, -1.255245327949524, 0.8192187547683716, 1.2541009187698364, -0.49458304047584534, -1.4024949073791504, -6.083200787543319e-05, 6.083200787543319e-05, -0.11959258466959, -1.0488669872283936, 0.7085908055305481, -0.6540398001670837, 0.7219424843788147, 0.959983229637146, -0.00012446616892702878, 0.00012446616892702878], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -1.1926833391189575, 0.7585641145706177, 1.0385671854019165, -0.5251010656356812, -1.2571526765823364, -6.083200787543319e-05, 6.083200787543319e-05, -0.1958876997232437, -1.1087586879730225, 0.7028687000274658, -0.6025406122207642, 0.7593270540237427, 0.960746169090271, -0.0005733110010623932, 0.0005733110010623932], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01430533267557621, -1.1320286989212036, 0.7051575779914856, 0.8596551418304443, -0.5544747114181519, -1.1305028200149536, -6.083200787543319e-05, 6.083200787543319e-05, -0.25272753834724426, -1.1640726327896118, 0.700579822063446, -0.5643930435180664, 0.7791637778282166, 0.9634165167808533, -0.01318846270442009, 0.01318846270442009], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01583123579621315, -1.0786221027374268, 0.6605249047279358, 0.7551308274269104, -0.576218843460083, -1.0530632734298706, -6.083200787543319e-05, 6.083200787543319e-05, -0.2821011543273926, -1.2071794271469116, 0.7009612917900085, -0.5357823967933655, 0.7848859429359436, 0.9634165167808533, -0.019016219303011894, 0.019016219303011894], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.016594186425209045, -1.041237473487854, 0.6269550919532776, 0.6956206560134888, -0.5895704627037048, -1.0072861909866333, -6.083200787543319e-05, 6.083200787543319e-05, -0.2904936373233795, -1.2479972839355469, 0.7093538045883179, -0.5022125840187073, 0.7814526557922363, 0.9634165167808533, -0.021535655483603477, 0.021535655483603477], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018120087683200836, -1.0194933414459229, 0.6052109599113464, 0.6624323129653931, -0.6040665507316589, -0.9775310754776001, -6.083200787543319e-05, 6.083200787543319e-05, -0.28400853276252747, -1.2914854288101196, 0.7299534678459167, -0.47894254326820374, 0.7593270540237427, 0.9630350470542908, -0.021724974736571312, 0.021724974736571312], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -1.0076676607131958, 0.5907148718833923, 0.6410696506500244, -0.6105515956878662, -0.9573128819465637, -6.083200787543319e-05, 6.083200787543319e-05, -0.2569237947463989, -1.3319218158721924, 0.7547493577003479, -0.46330204606056213, 0.7391088604927063, 0.9634165167808533, -0.021724974736571312, 0.021724974736571312], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -1.0015640258789062, 0.5815594792366028, 0.6300068497657776, -0.6177996397018433, -0.9473945498466492, -6.083200787543319e-05, 6.083200787543319e-05, -0.22564278542995453, -1.3693064451217651, 0.7795453071594238, -0.44384679198265076, 0.7135500311851501, 0.9634165167808533, -0.021724974736571312, 0.021724974736571312], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9977492690086365, 0.5743114352226257, 0.6231403350830078, -0.6242847442626953, -0.9409094452857971, -6.083200787543319e-05, 6.083200787543319e-05, -0.20695048570632935, -1.410887360572815, 0.8089188933372498, -0.43011367321014404, 0.6818875670433044, 0.9634165167808533, -0.021724974736571312, 0.021724974736571312], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9946975111961365, 0.5678263306617737, 0.619325578212738, -0.6277180314064026, -0.9370946884155273, -6.083200787543319e-05, 6.083200787543319e-05, -0.19016556441783905, -1.4486533403396606, 0.8363851308822632, -0.4209582805633545, 0.6624323129653931, 0.9634165167808533, -0.02173493802547455, 0.02173493802547455], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9905012845993042, 0.5617227554321289, 0.6170367002487183, -0.6284809708595276, -0.9332799315452576, -6.083200787543319e-05, 6.083200787543319e-05, -0.17452506721019745, -1.4761196374893188, 0.8577477931976318, -0.41409170627593994, 0.6517509818077087, 0.9634165167808533, -0.02173493802547455, 0.02173493802547455], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9874494671821594, 0.5567635893821716, 0.6158922910690308, -0.6292439103126526, -0.9302281141281128, -6.083200787543319e-05, 6.083200787543319e-05, -0.1684214472770691, -1.495193362236023, 0.8730067610740662, -0.41027694940567017, 0.6303883194923401, 0.9634165167808533, -0.021724974736571312, 0.021724974736571312], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9859235286712646, 0.5537117719650269, 0.6158922910690308, -0.6292439103126526, -0.9267948269844055, -6.083200787543319e-05, 6.083200787543319e-05, -0.15888457000255585, -1.5115967988967896, 0.8855955004692078, -0.4064621925354004, 0.6078813076019287, 0.9634165167808533, -0.02170504443347454, 0.02170504443347454], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9851605892181396, 0.5506599545478821, 0.6155108213424683, -0.6292439103126526, -0.926413357257843, -6.083200787543319e-05, 6.083200787543319e-05, -0.14515145123004913, -1.5272372961044312, 0.8966583013534546, -0.39883267879486084, 0.6002517938613892, 0.9634165167808533, -0.02163529396057129, 0.02163529396057129], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9840161800384521, 0.5483710765838623, 0.6155108213424683, -0.6280995011329651, -0.925650417804718, -6.083200787543319e-05, 6.083200787543319e-05, -0.1371404528617859, -1.5405889749526978, 0.9058136940002441, -0.3885328471660614, 0.5876630544662476, 0.9634165167808533, -0.02014319971203804, 0.02014319971203804], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9821087718009949, 0.5457007884979248, 0.615129292011261, -0.6280995011329651, -0.9237430095672607, -6.083200787543319e-05, 6.083200787543319e-05, -0.12645913660526276, -1.5512703657150269, 0.9115357995033264, -0.3847180902957916, 0.568970799446106, 0.9634165167808533, -0.014071237295866013, 0.014071237295866013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9802014231681824, 0.54264897108078, 0.6155108213424683, -0.6280995011329651, -0.9237430095672607, -6.083200787543319e-05, 6.083200787543319e-05, -0.11615930497646332, -1.5566109418869019, 0.9145876169204712, -0.3847180902957916, 0.5628671646118164, 0.9637979865074158, -0.002597047481685877, 0.002597047481685877], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9771496057510376, 0.5384527444839478, 0.6155108213424683, -0.6280995011329651, -0.9237430095672607, -6.083200787543319e-05, 6.083200787543319e-05, -0.11005569249391556, -1.5573738813400269, 0.916113555431366, -0.38166627287864685, 0.5586709380149841, 0.9634165167808533, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.969520092010498, 0.5323491096496582, 0.615129292011261, -0.6273365616798401, -0.924124538898468, -6.083200787543319e-05, 6.083200787543319e-05, -0.10738536715507507, -1.5455482006072998, 0.917639434337616, -0.3885328471660614, 0.5521858334541321, 0.9637979865074158, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9618905782699585, 0.5277714133262634, 0.615129292011261, -0.6273365616798401, -0.924124538898468, -6.083200787543319e-05, 6.083200787543319e-05, -0.09975585341453552, -1.5230411291122437, 0.9195467829704285, -0.41676202416419983, 0.5483710765838623, 0.9637979865074158, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9561684727668762, 0.5247195959091187, 0.615129292011261, -0.6277180314064026, -0.924124538898468, -6.083200787543319e-05, 6.083200787543319e-05, -0.0871671661734581, -1.492904543876648, 0.9245060086250305, -0.45948728919029236, 0.5491340756416321, 0.9634165167808533, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9531166553497314, 0.5228122472763062, 0.615129292011261, -0.6273365616798401, -0.924124538898468, -6.083200787543319e-05, 6.083200787543319e-05, -0.06809338182210922, -1.4658198356628418, 0.9313725233078003, -0.5106050372123718, 0.5510414242744446, 0.9634165167808533, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9515907764434814, 0.5212863087654114, 0.615129292011261, -0.6277180314064026, -0.924124538898468, -6.083200787543319e-05, 6.083200787543319e-05, -0.04291599988937378, -1.4486533403396606, 0.9420538544654846, -0.5643930435180664, 0.5506599545478821, 0.9634165167808533, -0.0004043755179736763, 0.0004043755179736763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9500648379325867, 0.5193789601325989, 0.615129292011261, -0.6280995011329651, -0.924124538898468, -6.083200787543319e-05, 6.083200787543319e-05, -0.007438773289322853, -1.4398794174194336, 0.9557870030403137, -0.6162737607955933, 0.5491340756416321, 0.9634165167808533, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9470130205154419, 0.5167086124420166, 0.615129292011261, -0.6303883194923401, -0.924124538898468, -6.083200787543319e-05, 6.083200787543319e-05, 0.03452353551983833, -1.4360647201538086, 0.9721904397010803, -0.6685358881950378, 0.5506599545478821, 0.9634165167808533, -0.0004043755179736763, 0.0004043755179736763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9428167939186096, 0.5136567950248718, 0.6155108213424683, -0.6326771974563599, -0.9237430095672607, -6.083200787543319e-05, 6.083200787543319e-05, 0.08068207651376724, -1.4360647201538086, 0.9901197552680969, -0.7242313027381897, 0.5498970150947571, 0.9634165167808533, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9401465058326721, 0.5098420977592468, 0.615129292011261, -0.6357290148735046, -0.9229800701141357, -6.083200787543319e-05, 6.083200787543319e-05, 0.12378881871700287, -1.4383535385131836, 1.0065232515335083, -0.7761120200157166, 0.5498970150947571, 0.9634165167808533, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9386205673217773, 0.5064088106155396, 0.615129292011261, -0.6353475451469421, -0.919165313243866, -6.083200787543319e-05, 6.083200787543319e-05, 0.15888457000255585, -1.440260887145996, 1.0175859928131104, -0.8226520419120789, 0.5510414242744446, 0.9630350470542908, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9374761581420898, 0.5037384629249573, 0.615129292011261, -0.6357290148735046, -0.9157320261001587, -6.083200787543319e-05, 6.083200787543319e-05, 0.18558785319328308, -1.4425498247146606, 1.0240710973739624, -0.8627069592475891, 0.5518043637275696, 0.9634165167808533, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9374761581420898, 0.5022125840187073, 0.615129292011261, -0.6357290148735046, -0.9122987985610962, -6.083200787543319e-05, 6.083200787543319e-05, 0.20962081849575043, -1.4444571733474731, 1.0275044441223145, -0.8958953022956848, 0.5567635893821716, 0.9630350470542908, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9374761581420898, 0.5014495849609375, 0.615129292011261, -0.6357290148735046, -0.9096284508705139, -6.083200787543319e-05, 6.083200787543319e-05, 0.230601966381073, -1.4494163990020752, 1.0297932624816895, -0.9225986003875732, 0.5640115737915039, 0.9630350470542908, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9374761581420898, 0.5014495849609375, 0.615129292011261, -0.6357290148735046, -0.9088655114173889, -6.083200787543319e-05, 6.083200787543319e-05, 0.24357213079929352, -1.4578088521957397, 1.030937671661377, -0.9424353241920471, 0.5731670260429382, 0.9630350470542908, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9374761581420898, 0.5014495849609375, 0.615129292011261, -0.6357290148735046, -0.9084840416908264, -6.083200787543319e-05, 6.083200787543319e-05, 0.25577935576438904, -1.4673457145690918, 1.031700611114502, -0.9515907764434814, 0.5766003131866455, 0.9630350470542908, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9374761581420898, 0.501068115234375, 0.6155108213424683, -0.6357290148735046, -0.9084840416908264, -6.083200787543319e-05, 6.083200787543319e-05, 0.26760509610176086, -1.4768825769424438, 1.0320820808410645, -0.954261064529419, 0.5815594792366028, 0.9630350470542908, -0.0004577651561703533, 0.0004577651561703533], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9374761581420898, 0.4999237060546875, 0.6155108213424683, -0.6357290148735046, -0.9084840416908264, -6.083200787543319e-05, 6.083200787543319e-05, 0.2748531401157379, -1.488326907157898, 1.0320820808410645, -0.9412909150123596, 0.5842298269271851, 0.9634165167808533, -0.005546624306589365, 0.005546624306589365], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9382390975952148, 0.4991607666015625, 0.615129292011261, -0.6357290148735046, -0.9081025123596191, -6.083200787543319e-05, 6.083200787543319e-05, 0.2786678969860077, -1.4974822998046875, 1.0320820808410645, -0.9012359976768494, 0.5838482975959778, 0.9630350470542908, -0.017841225489974022, 0.017841225489974022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9386205673217773, 0.4976348578929901, 0.615129292011261, -0.6357290148735046, -0.9081025123596191, -6.083200787543319e-05, 6.083200787543319e-05, 0.2817196846008301, -1.50091552734375, 1.0320820808410645, -0.8440146446228027, 0.5865186452865601, 0.9634165167808533, -0.022552013397216797, 0.022552013397216797], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9382390975952148, 0.4953460097312927, 0.6155108213424683, -0.6357290148735046, -0.9081025123596191, -6.083200787543319e-05, 6.083200787543319e-05, 0.28286412358283997, -1.4932860136032104, 1.033226490020752, -0.7993820309638977, 0.5949110984802246, 0.9634165167808533, -0.023457372561097145, 0.023457372561097145], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9378576278686523, 0.49229419231414795, 0.615129292011261, -0.6357290148735046, -0.9081025123596191, -6.083200787543319e-05, 6.083200787543319e-05, 0.2763790488243103, -1.4723048210144043, 1.0400930643081665, -0.7719157934188843, 0.5983443856239319, 0.9637979865074158, -0.023189019411802292, 0.023189019411802292], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9374761581420898, 0.49114975333213806, 0.6155108213424683, -0.6361104846000671, -0.9077210426330566, -6.083200787543319e-05, 6.083200787543319e-05, 0.2450980395078659, -1.4486533403396606, 1.0637445449829102, -0.7467383742332458, 0.6006332635879517, 0.9637979865074158, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9374761581420898, 0.49000534415245056, 0.6155108213424683, -0.6357290148735046, -0.9081025123596191, -6.083200787543319e-05, 6.083200787543319e-05, 0.19245441257953644, -1.4288166761398315, 1.0954070091247559, -0.7116426229476929, 0.5983443856239319, 0.9641794562339783, -0.001972516532987356, 0.001972516532987356], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9370946884155273, 0.49000534415245056, 0.6155108213424683, -0.6361104846000671, -0.9077210426330566, -6.083200787543319e-05, 6.083200787543319e-05, 0.1348516047000885, -1.41470205783844, 1.1247806549072266, -0.6754024624824524, 0.6033035516738892, 0.9645609259605408, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.9370946884155273, 0.49076828360557556, 0.6155108213424683, -0.6361104846000671, -0.9046692848205566, -6.083200787543319e-05, 6.083200787543319e-05, 0.07610437273979187, -1.408979892730713, 1.1408026218414307, -0.6322957277297974, 0.6498435735702515, 0.9645609259605408, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012397955171763897, -0.9458686113357544, 0.50030517578125, 0.6155108213424683, -0.6399252414703369, -0.9000915288925171, -6.083200787543319e-05, 6.083200787543319e-05, 0.025749599561095238, -1.4032578468322754, 1.1388952732086182, -0.5945296287536621, 0.7181277275085449, 0.9462500810623169, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.013160906732082367, -0.9782940149307251, 0.5304417610168457, 0.615129292011261, -0.6513695120811462, -0.8974212408065796, -6.083200787543319e-05, 6.083200787543319e-05, -0.019645990803837776, -1.3918135166168213, 1.0976959466934204, -0.4991607666015625, 0.8089188933372498, 0.8585107326507568, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05130846053361893, -1.043144941329956, 0.5819409489631653, 0.614366352558136, -0.6864652633666992, -0.8974212408065796, -6.083200787543319e-05, 6.083200787543319e-05, -0.06542305648326874, -1.3765544891357422, 1.030937671661377, -0.36755168437957764, 0.9069581031799316, 0.7509346008300781, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11539635062217712, -1.1316472291946411, 0.6353475451469421, 0.5495155453681946, -0.7398717999458313, -0.8749141693115234, -6.083200787543319e-05, 6.083200787543319e-05, -0.09746700525283813, -1.3483253717422485, 0.959983229637146, -0.28858625888824463, 0.9653238654136658, 0.6765468716621399, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.17757686972618103, -1.2144273519515991, 0.6761654019355774, 0.45834288001060486, -0.7944228053092957, -0.8478294014930725, -0.00025058063329197466, 0.00025058063329197466, -0.11425192654132843, -1.3117036819458008, 0.890554666519165, -0.26722362637519836, 0.9878309369087219, 0.6311513185501099, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2157244235277176, -1.2682154178619385, 0.697528064250946, 0.4026474356651306, -0.804341197013855, -0.8443961143493652, -0.010149676352739334, 0.010149676352739334, -0.12073700875043869, -1.273556113243103, 0.8272297382354736, -0.2603570520877838, 0.9912642240524292, 0.6025406122207642, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23441672325134277, -1.2987334728240967, 0.7078278660774231, 0.3717479109764099, -0.8024337887763977, -0.8413442969322205, -0.018809637054800987, 0.018809637054800987, -0.12684062123298645, -1.2430380582809448, 0.7803082466125488, -0.25654229521751404, 0.9828717708587646, 0.5846112966537476, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23975738883018494, -1.3178073167800903, 0.7093538045883179, 0.3530556261539459, -0.7955672740936279, -0.8451590538024902, -0.02370557002723217, 0.02370557002723217, -0.13065537810325623, -1.2254902124404907, 0.7513160705566406, -0.25654229521751404, 0.9779125452041626, 0.5746929049491882, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.24204623699188232, -1.3273441791534424, 0.6994354128837585, 0.3435187339782715, -0.7867932915687561, -0.8531700372695923, -0.024960704147815704, 0.024960704147815704, -0.13065537810325623, -1.2155718803405762, 0.734912633895874, -0.25654229521751404, 0.9756237268447876, 0.568970799446106, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23937590420246124, -1.3311588764190674, 0.6845578551292419, 0.33627068996429443, -0.7803082466125488, -0.8710994124412537, -0.025480762124061584, 0.025480762124061584, -0.13103684782981873, -1.2109941244125366, 0.726901650428772, -0.25425344705581665, 0.9729533791542053, 0.5659189820289612, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22220951318740845, -1.3330663442611694, 0.6731135845184326, 0.33093002438545227, -0.770771324634552, -0.8882657885551453, -0.025500334799289703, 0.025500334799289703, -0.13179980218410492, -1.2090867757797241, 0.7230868935585022, -0.25425344705581665, 0.9699015617370605, 0.5624856948852539, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1981765478849411, -1.3368810415267944, 0.6681544184684753, 0.33054855465888977, -0.7452124953269958, -0.9061951637268066, -0.025490548461675644, 0.025490548461675644, -0.13179980218410492, -1.2083238363265991, 0.7204165458679199, -0.25425344705581665, 0.967231273651123, 0.5624856948852539, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.17299915850162506, -1.346036434173584, 0.6704432964324951, 0.32978561520576477, -0.7120240926742554, -0.925650417804718, -0.025480762124061584, 0.025480762124061584, -0.13179980218410492, -1.2075608968734741, 0.7192721366882324, -0.25425344705581665, 0.9664682745933533, 0.5621042251586914, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1504921019077301, -1.361295461654663, 0.6799801588058472, 0.3271152675151825, -0.6773098111152649, -0.9481574892997742, -0.02537304162979126, 0.02537304162979126, -0.13141833245754242, -1.2071794271469116, 0.7185091972351074, -0.25425344705581665, 0.9641794562339783, 0.5621042251586914, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.13141833245754242, -1.3792248964309692, 0.6929503083229065, 0.32673379778862, -0.6410696506500244, -0.970283031463623, -0.02445800229907036, 0.02445800229907036, -0.13179980218410492, -1.2067978382110596, 0.7185091972351074, -0.25425344705581665, 0.9641794562339783, 0.5617227554321289, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.11463340371847153, -1.3986800909042358, 0.7112611532211304, 0.3233005404472351, -0.6101701259613037, -0.9878309369087219, -0.022990074008703232, 0.022990074008703232, -0.13179980218410492, -1.2067978382110596, 0.7185091972351074, -0.25425344705581665, 0.9641794562339783, 0.5617227554321289, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10090028494596481, -1.4192798137664795, 0.732623815536499, 0.3225375711917877, -0.5811780095100403, -1.0038528442382812, -0.02186448872089386, 0.02186448872089386, -0.13179980218410492, -1.2071794271469116, 0.7185091972351074, -0.25425344705581665, 0.9637979865074158, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08945601433515549, -1.4360647201538086, 0.7528420090675354, 0.3225375711917877, -0.5563820600509644, -1.022926688194275, -0.020948121324181557, 0.020948121324181557, -0.13141833245754242, -1.2075608968734741, 0.7185091972351074, -0.25425344705581665, 0.962272047996521, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08182650804519653, -1.4475089311599731, 0.7673380374908447, 0.3233005404472351, -0.5327305793762207, -1.030937671661377, -0.019469931721687317, 0.019469931721687317, -0.13179980218410492, -1.2075608968734741, 0.7185091972351074, -0.25425344705581665, 0.9596017599105835, 0.5613412857055664, -0.00014471952454186976, 0.00014471952454186976], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07801175117492676, -1.4536125659942627, 0.7753490209579468, 0.32673379778862, -0.509079098701477, -1.037422776222229, -0.01767595484852791, 0.01767595484852791, -0.13141833245754242, -1.2075608968734741, 0.7185091972351074, -0.25425344705581665, 0.959220290184021, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07686731964349747, -1.4566643238067627, 0.7795453071594238, 0.33016708493232727, -0.4835202693939209, -1.0408560037612915, -0.015561885200440884, 0.015561885200440884, -0.13141833245754242, -1.2087053060531616, 0.7185091972351074, -0.25463491678237915, 0.9557870030403137, 0.5609598159790039, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07419699430465698, -1.4612420797348022, 0.7852674126625061, 0.33054855465888977, -0.46292057633399963, -1.041237473487854, -0.014080345630645752, 0.014080345630645752, -0.13141833245754242, -1.2087053060531616, 0.7185091972351074, -0.25463491678237915, 0.9496833682060242, 0.5609598159790039, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06923781335353851, -1.4684901237487793, 0.7940413355827332, 0.33054855465888977, -0.4503318965435028, -1.041237473487854, -0.012535478919744492, 0.012535478919744492, -0.13179980218410492, -1.2098497152328491, 0.7185091972351074, -0.25463491678237915, 0.9477760195732117, 0.5609598159790039, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05893797054886818, -1.4742122888565063, 0.8024337887763977, 0.33016708493232727, -0.438506156206131, -1.044670820236206, -0.007635472342371941, 0.007635472342371941, -0.13141833245754242, -1.2117570638656616, 0.7177462577819824, -0.25463491678237915, 0.9439612627029419, 0.5609598159790039, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04711223021149635, -1.4772640466690063, 0.810826301574707, 0.32978561520576477, -0.4247730076313019, -1.043144941329956, -0.00040791957871988416, 0.00040791957871988416, -0.13179980218410492, -1.2125200033187866, 0.7173647880554199, -0.25463491678237915, 0.9424353241920471, 0.5609598159790039, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03604944050312042, -1.4726864099502563, 0.8192187547683716, 0.3282597064971924, -0.41371023654937744, -1.0233081579208374, -0.00043991405982524157, 0.00043991405982524157, -0.13141833245754242, -1.2125200033187866, 0.7158388495445251, -0.25501641631126404, 0.9416723847389221, 0.5609598159790039, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.014686808921396732, -1.4528496265411377, 0.8241779208183289, 0.3271152675151825, -0.3995956480503082, -0.9901197552680969, -0.00043991405982524157, 0.00043991405982524157, -0.13141833245754242, -1.2125200033187866, 0.7146944403648376, -0.25654229521751404, 0.9420538544654846, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.016212711110711098, -1.4272907972335815, 0.8291370868682861, 0.3271152675151825, -0.37975889444351196, -0.9454871416091919, -0.00043991405982524157, 0.00043991405982524157, -0.13179980218410492, -1.2125200033187866, 0.7135500311851501, -0.25654229521751404, 0.9420538544654846, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05130846053361893, -1.409742832183838, 0.8375295400619507, 0.3274967670440674, -0.36488136649131775, -0.9031433463096619, -0.00043991405982524157, 0.00043991405982524157, -0.13179980218410492, -1.2132829427719116, 0.7131685614585876, -0.2569237947463989, 0.9424353241920471, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09098191559314728, -1.3994430303573608, 0.846684992313385, 0.32673379778862, -0.3568703830242157, -0.8627069592475891, -0.00043991405982524157, 0.00043991405982524157, -0.13141833245754242, -1.2136644124984741, 0.7127870321273804, -0.2569237947463989, 0.9431982636451721, 0.5609598159790039, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12874799966812134, -1.3956283330917358, 0.8516441583633423, 0.3271152675151825, -0.35229265689849854, -0.8245593905448914, -0.00043991405982524157, 0.00043991405982524157, -0.13141833245754242, -1.2136644124984741, 0.7127870321273804, -0.2573052644729614, 0.9431982636451721, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1672770231962204, -1.3952468633651733, 0.8550774455070496, 0.3274967670440674, -0.34618905186653137, -0.7871748208999634, -0.00043991405982524157, 0.00043991405982524157, -0.13179980218410492, -1.2136644124984741, 0.7127870321273804, -0.2573052644729614, 0.9435797929763794, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1962691694498062, -1.3998245000839233, 0.8573662638664246, 0.3274967670440674, -0.3416113555431366, -0.7646677494049072, -0.00043991405982524157, 0.00043991405982524157, -0.13179980218410492, -1.2136644124984741, 0.7127870321273804, -0.2573052644729614, 0.9435797929763794, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21953918039798737, -1.4078354835510254, 0.8592736721038818, 0.3271152675151825, -0.3370336592197418, -0.7501716613769531, -0.00043991405982524157, 0.00043991405982524157, -0.13179980218410492, -1.2136644124984741, 0.7127870321273804, -0.2576867341995239, 0.9439612627029419, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24052032828330994, -1.418898344039917, 0.8592736721038818, 0.3278782367706299, -0.33550775051116943, -0.7425421476364136, -0.00043991405982524157, 0.00043991405982524157, -0.13179980218410492, -1.2136644124984741, 0.7127870321273804, -0.2576867341995239, 0.9435797929763794, 0.5609598159790039, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25654229521751404, -1.429198145866394, 0.8600366115570068, 0.3274967670440674, -0.33550775051116943, -0.7398717999458313, -0.00043991405982524157, 0.00043991405982524157, -0.13179980218410492, -1.2136644124984741, 0.7127870321273804, -0.2576867341995239, 0.9439612627029419, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.26798656582832336, -1.438735008239746, 0.8611810207366943, 0.3274967670440674, -0.33474478125572205, -0.7402533292770386, -0.0004506181285250932, 0.0004506181285250932, -0.13141833245754242, -1.2136644124984741, 0.7127870321273804, -0.2576867341995239, 0.9435797929763794, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2756160795688629, -1.4486533403396606, 0.8615625500679016, 0.3274967670440674, -0.33474478125572205, -0.7421606779098511, -0.00884363055229187, 0.00884363055229187, -0.13141833245754242, -1.2140458822250366, 0.7127870321273804, -0.2576867341995239, 0.9435797929763794, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2801937758922577, -1.4574273824691772, 0.8619440197944641, 0.3274967670440674, -0.33512628078460693, -0.7486457824707031, -0.018084846436977386, 0.018084846436977386, -0.13141833245754242, -1.2140458822250366, 0.7127870321273804, -0.2576867341995239, 0.9431982636451721, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28324559330940247, -1.4623864889144897, 0.8646143078804016, 0.3274967670440674, -0.3397039771080017, -0.7566567659378052, -0.018515178933739662, 0.018515178933739662, -0.13141833245754242, -1.2144273519515991, 0.7127870321273804, -0.2576867341995239, 0.9431982636451721, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28591591119766235, -1.4631494283676147, 0.8730067610740662, 0.3282597064971924, -0.3706035017967224, -0.7631418108940125, -0.01850537769496441, 0.01850537769496441, -0.13141833245754242, -1.2148088216781616, 0.7124055624008179, -0.2576867341995239, 0.9431982636451721, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28667888045310974, -1.4475089311599731, 0.884069561958313, 0.3286411762237549, -0.4083695709705353, -0.7661936283111572, -0.01850537769496441, 0.01850537769496441, -0.13179980218410492, -1.2148088216781616, 0.7120240926742554, -0.2580682039260864, 0.9431982636451721, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2756160795688629, -1.410887360572815, 0.8924620151519775, 0.3282597064971924, -0.44766154885292053, -0.7421606779098511, -0.013555365614593029, 0.013555365614593029, -0.13141833245754242, -1.2144273519515991, 0.7112611532211304, -0.2588311731815338, 0.9435797929763794, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.230601966381073, -1.3651102781295776, 0.8894102573394775, 0.3286411762237549, -0.47894254326820374, -0.6979095339775085, -0.00039375643245875835, 0.00039375643245875835, -0.13179980218410492, -1.2106126546859741, 0.7089722752571106, -0.2603570520877838, 0.9485389590263367, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15735866129398346, -1.3296329975128174, 0.8733882904052734, 0.33016708493232727, -0.5292973518371582, -0.6616693139076233, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.2060348987579346, 0.7043945789337158, -0.2641718089580536, 0.954261064529419, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09212634712457657, -1.3120851516723633, 0.8516441583633423, 0.33131152391433716, -0.5861371755599976, -0.6391623020172119, -3.095445572398603e-05, 3.095445572398603e-05, -0.13179980218410492, -1.2029831409454346, 0.7001983523368835, -0.28782328963279724, 0.9580758213996887, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06084534898400307, -1.3052185773849487, 0.8352407217025757, 0.39501792192459106, -0.6132219433784485, -0.6498435735702515, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.1987868547439575, 0.6963835954666138, -0.31872281432151794, 0.9596017599105835, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0555046908557415, -1.3067444562911987, 0.8237964510917664, 0.481612890958786, -0.6441214680671692, -0.690280020236969, -3.426579860388301e-05, 3.426579860388301e-05, -0.13141833245754242, -1.1919203996658325, 0.6883726119995117, -0.34580758213996887, 0.9603646993637085, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05359731614589691, -1.3067444562911987, 0.812352180480957, 0.534637987613678, -0.6769283413887024, -0.7143129706382751, -3.095445572398603e-05, 3.095445572398603e-05, -0.13141833245754242, -1.182383418083191, 0.6765468716621399, -0.37823301553726196, 0.9626535177230835, 0.5613412857055664, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.053215838968753815, -1.2933928966522217, 0.7944228053092957, 0.5739299654960632, -0.7093538045883179, -0.7402533292770386, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.1633096933364868, 0.6532768607139587, -0.41371023654937744, 0.9637979865074158, 0.5617227554321289, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05359731614589691, -1.269741415977478, 0.7703898549079895, 0.6586175560951233, -0.732623815536499, -0.7955672740936279, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.1343175172805786, 0.6219958662986755, -0.44766154885292053, 0.9637979865074158, 0.5617227554321289, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05359731614589691, -1.2373158931732178, 0.7360570430755615, 0.7162203192710876, -0.7410162687301636, -0.8333333134651184, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.0999847650527954, 0.5838482975959778, -0.4697871506214142, 0.9637979865074158, 0.5617227554321289, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05436026677489281, -1.2067978382110596, 0.7047760486602783, 0.7467383742332458, -0.7364385724067688, -0.8531700372695923, -3.426579860388301e-05, 3.426579860388301e-05, -0.13141833245754242, -1.0675593614578247, 0.5479896068572998, -0.483138769865036, 0.9618905782699585, 0.5617227554321289, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05397878959774971, -1.1964980363845825, 0.7043945789337158, 0.7681010365486145, -0.6971465349197388, -0.8695735335350037, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.046959638595581, 0.5212863087654114, -0.49114975333213806, 0.959220290184021, 0.5621042251586914, -0.00014471952454186976, 0.00014471952454186976], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06160829961299896, -1.2205309867858887, 0.7433050870895386, 0.7761120200157166, -0.6525139212608337, -0.8806362748146057, -3.426579860388301e-05, 3.426579860388301e-05, -0.13141833245754242, -1.0400930643081665, 0.5041199326515198, -0.49343863129615784, 0.9557870030403137, 0.5617227554321289, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08182650804519653, -1.2609673738479614, 0.7875562906265259, 0.7822155952453613, -0.5968185067176819, -0.8886472582817078, -3.095445572398603e-05, 3.095445572398603e-05, -0.13179980218410492, -1.037422776222229, 0.49229419231414795, -0.4976348578929901, 0.9557870030403137, 0.5621042251586914, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09937438368797302, -1.3052185773849487, 0.8207446336746216, 0.7867932915687561, -0.5540932416915894, -0.892080545425415, -3.095445572398603e-05, 3.095445572398603e-05, -0.13141833245754242, -1.033226490020752, 0.4850461483001709, -0.4980163276195526, 0.9554055333137512, 0.5621042251586914, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11234454810619354, -1.340695858001709, 0.8329518437385559, 0.7890821695327759, -0.5178530812263489, -0.8947508931159973, -3.095445572398603e-05, 3.095445572398603e-05, -0.13179980218410492, -1.029411792755127, 0.4804684519767761, -0.4980163276195526, 0.9554055333137512, 0.5621042251586914, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12073700875043869, -1.3658732175827026, 0.8325703740119934, 0.7894636392593384, -0.47856107354164124, -0.8943694233894348, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.0282673835754395, 0.47817960381507874, -0.4980163276195526, 0.9557870030403137, 0.5621042251586914, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12417028844356537, -1.3792248964309692, 0.8295185565948486, 0.7906080484390259, -0.44537270069122314, -0.8901731967926025, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.027885913848877, 0.47703516483306885, -0.4976348578929901, 0.9565499424934387, 0.5621042251586914, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12684062123298645, -1.3891432285308838, 0.8299000263214111, 0.7913710474967957, -0.4198138415813446, -0.8821622133255005, -3.426579860388301e-05, 3.426579860388301e-05, -0.13141833245754242, -1.027885913848877, 0.47589075565338135, -0.4964904189109802, 0.9580758213996887, 0.5621042251586914, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12951095402240753, -1.3994430303573608, 0.8314259648323059, 0.7921339869499207, -0.404936283826828, -0.8779659867286682, -3.426579860388301e-05, 3.426579860388301e-05, -0.13141833245754242, -1.0271228551864624, 0.47589075565338135, -0.49305713176727295, 0.9649423956871033, 0.5621042251586914, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13790340721607208, -1.4055466651916504, 0.8306630253791809, 0.7925154566764832, -0.4060807228088379, -0.8760585784912109, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.0267413854599, 0.47589075565338135, -0.49038681387901306, 0.9691386222839355, 0.5621042251586914, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15468832850456238, -1.405165195465088, 0.8207446336746216, 0.7925154566764832, -0.41485464572906494, -0.8768215179443359, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.0263599157333374, 0.47589075565338135, -0.48962387442588806, 0.9721904397010803, 0.5621042251586914, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17452506721019745, -1.3971542119979858, 0.8039597272872925, 0.7925154566764832, -0.4179064631462097, -0.8836880922317505, -3.426579860388301e-05, 3.426579860388301e-05, -0.13141833245754242, -1.0263599157333374, 0.47589075565338135, -0.4877164959907532, 0.9760051965713501, 0.5624856948852539, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19169145822525024, -1.3891432285308838, 0.7837415337562561, 0.7925154566764832, -0.4240100681781769, -0.890554666519165, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.0263599157333374, 0.47589075565338135, -0.4869535267353058, 0.9760051965713501, 0.5624856948852539, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2004653960466385, -1.3830395936965942, 0.7673380374908447, 0.7917525172233582, -0.4339284300804138, -0.8951323628425598, -3.095445572398603e-05, 3.095445572398603e-05, -0.13179980218410492, -1.0263599157333374, 0.47589075565338135, -0.4869535267353058, 0.9790570139884949, 0.5624856948852539, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20580606162548065, -1.3765544891357422, 0.7547493577003479, 0.7917525172233582, -0.44460976123809814, -0.8962767720222473, -3.095445572398603e-05, 3.095445572398603e-05, -0.13141833245754242, -1.0263599157333374, 0.47589075565338135, -0.4869535267353058, 0.9790570139884949, 0.5624856948852539, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20733195543289185, -1.3685435056686401, 0.7467383742332458, 0.7902265787124634, -0.4552910625934601, -0.8962767720222473, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.0263599157333374, 0.47589075565338135, -0.4865720570087433, 0.9790570139884949, 0.5624856948852539, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20923933386802673, -1.354810357093811, 0.7448310256004333, 0.7932783961296082, -0.46215763688087463, -0.8951323628425598, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.0263599157333374, 0.47589075565338135, -0.4869535267353058, 0.9794384837150574, 0.5624856948852539, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20923933386802673, -1.3330663442611694, 0.7536049485206604, 0.7928969264030457, -0.4510948359966278, -0.8924620151519775, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.0263599157333374, 0.47589075565338135, -0.4865720570087433, 0.9794384837150574, 0.5624856948852539, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20504310727119446, -1.3109407424926758, 0.7688639760017395, 0.7928969264030457, -0.44308385252952576, -0.8829251527786255, -3.426579860388301e-05, 3.426579860388301e-05, -0.13141833245754242, -1.0263599157333374, 0.47589075565338135, -0.4869535267353058, 0.9794384837150574, 0.5624856948852539, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1970321238040924, -1.2941558361053467, 0.7848859429359436, 0.7928969264030457, -0.4365987777709961, -0.8745326995849609, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.021400809288025, 0.47589075565338135, -0.4869535267353058, 0.9763866662979126, 0.5624856948852539, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18978407979011536, -1.27775239944458, 0.7940413355827332, 0.7925154566764832, -0.4358358085155487, -0.8718623518943787, -3.426579860388301e-05, 3.426579860388301e-05, -0.13179980218410492, -1.0095750093460083, 0.47589075565338135, -0.4804684519767761, 0.9588387608528137, 0.5636301040649414, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18673227727413177, -1.2548638582229614, 0.7970931529998779, 0.7925154566764832, -0.47589075565338135, -0.8726252913475037, -3.095445572398603e-05, 3.095445572398603e-05, -0.13179980218410492, -0.994316041469574, 0.47589075565338135, -0.47436484694480896, 0.9233615398406982, 0.5861371755599976, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17986571788787842, -1.2129014730453491, 0.7845044732093811, 0.7925154566764832, -0.5621042251586914, -0.8806362748146057, -3.095445572398603e-05, 3.095445572398603e-05, -0.1329442262649536, -0.9866865277290344, 0.47665369510650635, -0.4980163276195526, 0.8863584399223328, 0.6410696506500244, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16002899408340454, -1.1461433172225952, 0.7429236173629761, 0.7928969264030457, -0.6715877056121826, -0.8932250142097473, -3.426579860388301e-05, 3.426579860388301e-05, -0.135233074426651, -0.9786755442619324, 0.47741663455963135, -0.5830853581428528, 0.8710994124412537, 0.7230868935585022, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11005569249391556, -1.0614557266235352, 0.6769283413887024, 0.7936598658561707, -0.805867075920105, -0.9100099205970764, -3.426579860388301e-05, 3.426579860388301e-05, -0.1356145590543747, -0.967994213104248, 0.47741663455963135, -0.6731135845184326, 0.9100099205970764, 0.7806897163391113, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04139009863138199, -0.9733348488807678, 0.6021591424942017, 0.7936598658561707, -0.9500648379325867, -0.9225986003875732, -0.00012783645070157945, 0.00012783645070157945, -0.1356145590543747, -0.955024003982544, 0.4713130295276642, -0.7375829815864563, 0.9733348488807678, 0.8134965896606445, -0.002309155883267522, 0.002309155883267522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.011635004542768002, -0.8901731967926025, 0.5262455344200134, 0.7959487438201904, -1.049248456954956, -0.951209306716919, -0.009648184292018414, 0.009648184292018414, -0.1356145590543747, -0.9397650361061096, 0.46139466762542725, -0.7803082466125488, 1.0149157047271729, 0.8440146446228027, -0.011292551644146442, 0.011292551644146442], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04100862145423889, -0.8283741474151611, 0.46101319789886475, 0.7951858043670654, -1.11295485496521, -0.9813458323478699, -0.018211789429187775, 0.018211789429187775, -0.1356145590543747, -0.9245060086250305, 0.44575417041778564, -0.8077744841575623, 1.0416189432144165, 0.8676661252975464, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.056267641484737396, -0.7887006998062134, 0.4087510406970978, 0.7932783961296082, -1.1507209539413452, -1.0069047212600708, -0.021605398505926132, 0.021605398505926132, -0.1356145590543747, -0.9084840416908264, 0.42858776450157166, -0.8207446336746216, 1.0576409101486206, 0.8798733353614807, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.06313420087099075, -0.763523280620575, 0.3728923499584198, 0.8001449704170227, -1.1774243116378784, -1.0320820808410645, -0.02384442649781704, 0.02384442649781704, -0.1356145590543747, -0.8909361362457275, 0.41256579756736755, -0.8295185565948486, 1.0641260147094727, 0.8882657885551453, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04940108209848404, -0.7360570430755615, 0.35076677799224854, 0.8642328381538391, -1.1900129318237305, -1.0934996604919434, -0.02736675553023815, 0.02736675553023815, -0.1356145590543747, -0.8760585784912109, 0.4015030264854431, -0.8348592519760132, 1.0709925889968872, 0.8928435444831848, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.029182879254221916, -0.7013428211212158, 0.33550775051116943, 0.9111543297767639, -1.1957350969314575, -1.1491950750350952, -0.027747048065066338, 0.027747048065066338, -0.1356145590543747, -0.8642328381538391, 0.39387351274490356, -0.8390554785728455, 1.0736628770828247, 0.8939879536628723, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.007438773289322853, -0.6792172193527222, 0.3255893886089325, 0.9428167939186096, -1.193827748298645, -1.192301869392395, -0.027747048065066338, 0.027747048065066338, -0.1356145590543747, -0.8577477931976318, 0.3889143168926239, -0.840199887752533, 1.0728999376296997, 0.8962767720222473, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.024986648932099342, -0.6734950542449951, 0.31795987486839294, 0.9580758213996887, -1.191157341003418, -1.2247272729873657, -0.0277375727891922, 0.0277375727891922, -0.1356145590543747, -0.8539330363273621, 0.386243999004364, -0.8421072959899902, 1.0732814073562622, 0.8974212408065796, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06809338182210922, -0.6792172193527222, 0.3126192092895508, 0.9676127433776855, -1.183146357536316, -1.2510490417480469, -0.02763322740793228, 0.02763322740793228, -0.1356145590543747, -0.8524070978164673, 0.3847180902957916, -0.8428702354431152, 1.0728999376296997, 0.8974212408065796, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09822995215654373, -0.6914244294166565, 0.3110933005809784, 0.9733348488807678, -1.1629282236099243, -1.272030234336853, -0.02754771150648594, 0.02754771150648594, -0.1356145590543747, -0.8516441583633423, 0.38281071186065674, -0.8428702354431152, 1.0728999376296997, 0.8974212408065796, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11387044936418533, -0.7059205174446106, 0.3114747703075409, 0.9756237268447876, -1.1423285007476807, -1.284618854522705, -0.02754771150648594, 0.02754771150648594, -0.1356145590543747, -0.8501182794570923, 0.38242924213409424, -0.8432517051696777, 1.0725184679031372, 0.8978027105331421, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12264438718557358, -0.7234683632850647, 0.31452658772468567, 0.9771496057510376, -1.1190584897994995, -1.2922483682632446, -0.027538202702999115, 0.027538202702999115, -0.1356145590543747, -0.8501182794570923, 0.38128480315208435, -0.8432517051696777, 1.0717555284500122, 0.8978027105331421, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12684062123298645, -0.7429236173629761, 0.31834134459495544, 0.9790570139884949, -1.0973143577575684, -1.2991149425506592, -0.02752869203686714, 0.02752869203686714, -0.1356145590543747, -0.8501182794570923, 0.38128480315208435, -0.8432517051696777, 1.0687037706375122, 0.8978027105331421, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12951095402240753, -0.760471522808075, 0.3236820101737976, 0.9790570139884949, -1.0816738605499268, -1.3067444562911987, -0.02284078672528267, 0.02284078672528267, -0.1356145590543747, -0.8501182794570923, 0.38128480315208435, -0.8432517051696777, 1.0687037706375122, 0.8978027105331421, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1325627565383911, -0.7703898549079895, 0.3278782367706299, 0.9664682745933533, -1.0809109210968018, -1.3067444562911987, -0.018740857020020485, 0.018740857020020485, -0.1356145590543747, -0.8501182794570923, 0.38090333342552185, -0.8436331748962402, 1.0671778917312622, 0.8981841802597046, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1337071806192398, -0.7776378989219666, 0.33016708493232727, 0.9367132186889648, -1.0908293724060059, -1.2895780801773071, -0.018740857020020485, 0.018740857020020485, -0.1356145590543747, -0.8508812189102173, 0.38090333342552185, -0.8436331748962402, 1.0648889541625977, 0.8981841802597046, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13752193748950958, -0.7894636392593384, 0.33283740282058716, 0.9145876169204712, -1.098840355873108, -1.2747005224227905, -0.018740857020020485, 0.018740857020020485, -0.1356145590543747, -0.8520256280899048, 0.38090333342552185, -0.8436331748962402, 1.0603113174438477, 0.8981841802597046, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14171816408634186, -0.8073930144309998, 0.33665215969085693, 0.9027618765830994, -1.1064698696136475, -1.2636377811431885, -0.01756918989121914, 0.01756918989121914, -0.1356145590543747, -0.8531700372695923, 0.38090333342552185, -0.8447775840759277, 1.058022379875183, 0.8981841802597046, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14858472347259521, -0.8260852694511414, 0.3404669165611267, 0.8970397710800171, -1.1152437925338745, -1.256771206855774, -0.01528061181306839, 0.01528061181306839, -0.1356145590543747, -0.8535515666007996, 0.38090333342552185, -0.8447775840759277, 1.0576409101486206, 0.8981841802597046, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15430685877799988, -0.8352407217025757, 0.343137264251709, 0.8928435444831848, -1.120202898979187, -1.2518119812011719, -0.007521636318415403, 0.007521636318415403, -0.1356145590543747, -0.8539330363273621, 0.38090333342552185, -0.8447775840759277, 1.0545891523361206, 0.8985656499862671, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15659570693969727, -0.8344777822494507, 0.3442816734313965, 0.89131760597229, -1.121347427368164, -1.2460898160934448, -0.0011734950821846724, 0.0011734950821846724, -0.1356145590543747, -0.8539330363273621, 0.38090333342552185, -0.8443961143493652, 1.0538262128829956, 0.8985656499862671, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15850308537483215, -0.8260852694511414, 0.344663143157959, 0.8886472582817078, -1.1232547760009766, -1.2457083463668823, -0.000536960840690881, 0.000536960840690881, -0.1356145590543747, -0.8512626886367798, 0.38090333342552185, -0.8497368097305298, 1.0538262128829956, 0.9016174674034119, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15850308537483215, -0.8157854676246643, 0.344663143157959, 0.8886472582817078, -1.125162124633789, -1.2449454069137573, -0.000536960840690881, 0.000536960840690881, -0.1356145590543747, -0.839436948299408, 0.37975889444351196, -0.890554666519165, 1.050011396408081, 0.9435797929763794, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.8093003630638123, 0.3442816734313965, 0.8882657885551453, -1.125162124633789, -1.2422751188278198, -0.000536960840690881, 0.000536960840690881, -0.1356145590543747, -0.8184558153152466, 0.3728923499584198, -0.9325169920921326, 1.042763352394104, 0.9828717708587646, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.8073930144309998, 0.3442816734313965, 0.8882657885551453, -1.125162124633789, -1.2422751188278198, -0.000536960840690881, 0.000536960840690881, -0.1356145590543747, -0.8024337887763977, 0.36449989676475525, -0.9538795948028564, 1.042000412940979, 1.0061417818069458, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.8085374236106873, 0.344663143157959, 0.8882657885551453, -1.125162124633789, -1.2384604215621948, -0.000536960840690881, 0.000536960840690881, -0.1356145590543747, -0.8001449704170227, 0.3538185656070709, -0.9641794562339783, 1.0416189432144165, 1.0191118717193604, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.810826301574707, 0.34542611241340637, 0.8878843188285828, -1.1247806549072266, -1.2376973628997803, -0.000536960840690881, 0.000536960840690881, -0.1356145590543747, -0.810826301574707, 0.34504464268684387, -0.9630350470542908, 1.0435264110565186, 1.0255969762802124, -0.015561885200440884, 0.015561885200440884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.810826301574707, 0.34542611241340637, 0.8878843188285828, -1.124399185180664, -1.2350270748138428, -0.000536960840690881, 0.000536960840690881, -0.1356145590543747, -0.8215075731277466, 0.33627068996429443, -0.952735185623169, 1.0606927871704102, 1.030937671661377, -0.015552484430372715, 0.015552484430372715], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.8096818327903748, 0.34542611241340637, 0.8878843188285828, -1.1224918365478516, -1.2346456050872803, -0.000536960840690881, 0.000536960840690881, -0.1363775134086609, -0.8237964510917664, 0.3248264193534851, -0.9401465058326721, 1.0763332843780518, 1.0328450202941895, -0.01554308645427227, 0.01554308645427227], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.8096818327903748, 0.34580758213996887, 0.8871213793754578, -1.1190584897994995, -1.2346456050872803, -0.000536960840690881, 0.000536960840690881, -0.1367589831352234, -0.8257037997245789, 0.31376364827156067, -0.9340428709983826, 1.0866330862045288, 1.033989429473877, -0.014593534171581268, 0.014593534171581268], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.811589241027832, 0.34580758213996887, 0.8871213793754578, -1.11142897605896, -1.2346456050872803, -0.000536960840690881, 0.000536960840690881, -0.1363775134086609, -0.8272297382354736, 0.30346378684043884, -0.9252689480781555, 1.0946440696716309, 1.0355154275894165, -0.01418067142367363, 0.01418067142367363], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.8134965896606445, 0.34618905186653137, 0.8878843188285828, -1.1057069301605225, -1.2346456050872803, -0.000536960840690881, 0.000536960840690881, -0.135233074426651, -0.8279926776885986, 0.2950713336467743, -0.9203097820281982, 1.099603295326233, 1.0355154275894165, -0.01152017805725336, 0.01152017805725336], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.813115119934082, 0.34618905186653137, 0.8875028491020203, -1.1015106439590454, -1.2346456050872803, -0.000536960840690881, 0.000536960840690881, -0.134470134973526, -0.8283741474151611, 0.290112167596817, -0.9233615398406982, 1.0999847650527954, 1.0355154275894165, -0.0060235182754695415, 0.0060235182754695415], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.8089188933372498, 0.34618905186653137, 0.8875028491020203, -1.0984588861465454, -1.2346456050872803, -0.000536960840690881, 0.000536960840690881, -0.1333257108926773, -0.8287556171417236, 0.28591591119766235, -0.927176296710968, 1.11142897605896, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.7951858043670654, 0.34618905186653137, 0.8875028491020203, -1.1037994623184204, -1.2350270748138428, -0.000536960840690881, 0.000536960840690881, -0.1325627565383911, -0.8154039978981018, 0.28553444147109985, -0.9340428709983826, 1.1182955503463745, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.7730602025985718, 0.343900203704834, 0.8878843188285828, -1.1263065338134766, -1.2354085445404053, -0.000536960840690881, 0.000536960840690881, -0.1325627565383911, -0.7909895181655884, 0.28477150201797485, -0.9458686113357544, 1.1495765447616577, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.7455939650535583, 0.3408484160900116, 0.8878843188285828, -1.1598763465881348, -1.2384604215621948, -0.000536960840690881, 0.000536960840690881, -0.1325627565383911, -0.76276034116745, 0.28477150201797485, -0.9397650361061096, 1.19306480884552, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.7112611532211304, 0.33512628078460693, 0.8878843188285828, -1.19916832447052, -1.2430380582809448, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.7337682247161865, 0.28477150201797485, -0.9386205673217773, 1.2346456050872803, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.6712062358856201, 0.3286411762237549, 0.8882657885551453, -1.2403677701950073, -1.2518119812011719, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.6952391862869263, 0.28515297174453735, -0.9359502792358398, 1.2754634618759155, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.6284809708595276, 0.3244449496269226, 0.8886472582817078, -1.2869077920913696, -1.2621119022369385, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.6563286781311035, 0.28667888045310974, -0.9309910535812378, 1.3128480911254883, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.5807965397834778, 0.3221561014652252, 0.8882657885551453, -1.3323034048080444, -1.2754634618759155, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.6166552305221558, 0.28896772861480713, -0.9267948269844055, 1.3498512506484985, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.5357823967933655, 0.325970858335495, 0.8882657885551453, -1.362821340560913, -1.2880522012710571, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.5693522691726685, 0.2954528033733368, -0.9157320261001587, 1.3712139129638672, 1.035896897315979, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.5113679766654968, 0.3442816734313965, 0.8882657885551453, -1.3685435056686401, -1.2926298379898071, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.5235751867294312, 0.3107118308544159, -0.9000915288925171, 1.3639658689498901, 1.035896897315979, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -0.499542236328125, 0.3732738196849823, 0.8878843188285828, -1.3513771295547485, -1.2960631847381592, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.4846646785736084, 0.3389410376548767, -0.881017804145813, 1.3136110305786133, 1.035896897315979, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15850308537483215, -0.49305713176727295, 0.4030289053916931, 0.8882657885551453, -1.3025482892990112, -1.2991149425506592, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.4640650153160095, 0.369840532541275, -0.8665217161178589, 1.2460898160934448, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15506981313228607, -0.4892423748970032, 0.42553597688674927, 0.8875028491020203, -1.2354085445404053, -1.2994964122772217, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.45796138048171997, 0.39578089118003845, -0.8554589152336121, 1.1694133281707764, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15354390442371368, -0.4877164959907532, 0.439269095659256, 0.8875028491020203, -1.1564431190490723, -1.3021668195724487, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.46368351578712463, 0.41409170627593994, -0.8344777822494507, 1.0927367210388184, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1516365259885788, -0.4880979657173157, 0.4491874575614929, 0.8878843188285828, -1.0683223009109497, -1.3021668195724487, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.4842832088470459, 0.42820629477500916, -0.8104447722434998, 1.0263599157333374, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.4964904189109802, 0.45910581946372986, 0.8867399096488953, -0.9863049983978271, -1.2945373058319092, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.5079346895217896, 0.44117647409439087, -0.7890821695327759, 0.9710460305213928, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.5136567950248718, 0.4678797721862793, 0.8871213793754578, -0.9138246774673462, -1.2865263223648071, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.5380712747573853, 0.45719844102859497, -0.777256429195404, 0.9218356609344482, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.5415045619010925, 0.47589075565338135, 0.8863584399223328, -0.8562218546867371, -1.2788968086242676, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.5773632526397705, 0.47703516483306885, -0.7665750980377197, 0.8882657885551453, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.5735484957695007, 0.4804684519767761, 0.8867399096488953, -0.810826301574707, -1.272030234336853, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.621614396572113, 0.4972533881664276, -0.7520790696144104, 0.8623254895210266, 1.0355154275894165, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.6078813076019287, 0.4835202693939209, 0.8867399096488953, -0.770008385181427, -1.268596887588501, -0.000536960840690881, 0.000536960840690881, -0.1329442262649536, -0.6685358881950378, 0.5170900821685791, -0.7413977384567261, 0.8382925391197205, 1.0351338386535645, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.6406881809234619, 0.4861905872821808, 0.8867399096488953, -0.7303349375724792, -1.267071008682251, -0.000536960840690881, 0.000536960840690881, -0.1325627565383911, -0.7192721366882324, 0.5388342142105103, -0.735675573348999, 0.8196002244949341, 1.0351338386535645, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.6734950542449951, 0.49267566204071045, 0.8859769701957703, -0.6921873688697815, -1.2636377811431885, -0.000536960840690881, 0.000536960840690881, -0.12569619715213776, -0.7742046117782593, 0.5647745728492737, -0.7322422862052917, 0.8024337887763977, 1.0351338386535645, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.7097352743148804, 0.5041199326515198, 0.8863584399223328, -0.6628137826919556, -1.2579156160354614, -0.000536960840690881, 0.000536960840690881, -0.10471503436565399, -0.8268482685089111, 0.5937666893005371, -0.7291905283927917, 0.7837415337562561, 1.0343708992004395, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.7547493577003479, 0.5231937170028687, 0.8875028491020203, -0.6376363635063171, -1.2502861022949219, -0.000536960840690881, 0.000536960840690881, -0.07915617525577545, -0.8844510316848755, 0.6261920928955078, -0.7291905283927917, 0.760471522808075, 1.032463550567627, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.7963302135467529, 0.541886031627655, 0.8875028491020203, -0.6162737607955933, -1.2457083463668823, -0.000536960840690881, 0.000536960840690881, -0.06427863240242004, -0.9378576278686523, 0.655947208404541, -0.7288090586662292, 0.7421606779098511, 1.0320820808410645, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.8302815556526184, 0.5567635893821716, 0.8871213793754578, -0.5926222801208496, -1.2418936491012573, -0.000536960840690881, 0.000536960840690881, -0.056267641484737396, -0.9866865277290344, 0.6845578551292419, -0.7288090586662292, 0.726138710975647, 1.032463550567627, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.8566033244132996, 0.5685893297195435, 0.8867399096488953, -0.569733738899231, -1.2380788326263428, -0.000536960840690881, 0.000536960840690881, -0.051689937710762024, -1.0305562019348145, 0.7127870321273804, -0.7291905283927917, 0.7112611532211304, 1.032463550567627, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.8798733353614807, 0.5796520709991455, 0.8863584399223328, -0.5502784848213196, -1.2338826656341553, -0.000536960840690881, 0.000536960840690881, -0.04749370738863945, -1.0675593614578247, 0.7391088604927063, -0.7291905283927917, 0.700579822063446, 1.032463550567627, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.9031433463096619, 0.5914778113365173, 0.8863584399223328, -0.535400927066803, -1.2300678491592407, -0.000536960840690881, 0.000536960840690881, -0.04406042397022247, -1.100366234779358, 0.7639048099517822, -0.7291905283927917, 0.6967650651931763, 1.032463550567627, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.9279392957687378, 0.6040665507316589, 0.8871213793754578, -0.5216678380966187, -1.2224383354187012, -0.000536960840690881, 0.000536960840690881, -0.040245670825242996, -1.1297398805618286, 0.7852674126625061, -0.7295719981193542, 0.6906614899635315, 1.032463550567627, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.9576943516731262, 0.6204699873924255, 0.8875028491020203, -0.5121309161186218, -1.2129014730453491, -0.000536960840690881, 0.000536960840690881, -0.03795681521296501, -1.1579689979553223, 0.8024337887763977, -0.7295719981193542, 0.6898985505104065, 1.0328450202941895, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -0.9920271635055542, 0.6380178332328796, 0.8878843188285828, -0.5048828721046448, -1.204127550125122, -0.000536960840690881, 0.000536960840690881, -0.035667963325977325, -1.1854352951049805, 0.8150225281715393, -0.7295719981193542, 0.6860837936401367, 1.0328450202941895, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -1.0263599157333374, 0.6536583304405212, 0.8878843188285828, -0.4968718886375427, -1.19611656665802, -0.000536960840690881, 0.000536960840690881, -0.02994582988321781, -1.2129014730453491, 0.8222705721855164, -0.7299534678459167, 0.6795986890792847, 1.0328450202941895, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -1.0587854385375977, 0.6651026010513306, 0.8875028491020203, -0.4858091175556183, -1.190394401550293, -0.000536960840690881, 0.000536960840690881, -0.01888304017484188, -1.2373158931732178, 0.8268482685089111, -0.7303349375724792, 0.6624323129653931, 1.0328450202941895, -0.0003374511143192649, 0.0003374511143192649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -1.0873960256576538, 0.6734950542449951, 0.8878843188285828, -0.47474631667137146, -1.1854352951049805, -0.000536960840690881, 0.000536960840690881, 0.00019073777366429567, -1.258297085762024, 0.8302815556526184, -0.7299534678459167, 0.6345845460891724, 1.0328450202941895, -0.00034445899655111134, 0.00034445899655111134], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -1.11295485496521, 0.6795986890792847, 0.8878843188285828, -0.46025025844573975, -1.183146357536316, -0.004781186114996672, 0.004781186114996672, 0.024223696440458298, -1.27927827835083, 0.8337147831916809, -0.7299534678459167, 0.6055924296379089, 1.033226490020752, -0.00504943635314703, 0.00504943635314703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1512550562620163, -1.1350804567337036, 0.6849393248558044, 0.8878843188285828, -0.44499123096466064, -1.181620478630066, -0.018515178933739662, 0.018515178933739662, 0.04291599988937378, -1.2968261241912842, 0.8360036611557007, -0.7299534678459167, 0.577744722366333, 1.033226490020752, -0.014007531106472015, 0.014007531106472015], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13942931592464447, -1.1453803777694702, 0.6876096725463867, 0.8875028491020203, -0.439269095659256, -1.1766613721847534, -0.023328199982643127, 0.023328199982643127, 0.04901960864663124, -1.3025482892990112, 0.8375295400619507, -0.7364385724067688, 0.5624856948852539, 1.033226490020752, -0.019233016297221184, 0.019233016297221184], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10471503436565399, -1.1350804567337036, 0.6887540817260742, 0.8878843188285828, -0.4640650153160095, -1.1701762676239014, -0.02337788976728916, 0.02337788976728916, 0.0394827201962471, -1.2884336709976196, 0.8375295400619507, -0.7639048099517822, 0.5796520709991455, 1.035896897315979, -0.01956876367330551, 0.01956876367330551], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.059319447726011276, -1.098077416419983, 0.6837949156761169, 0.8882657885551453, -0.5395971536636353, -1.1655985116958618, -0.023367952555418015, 0.023367952555418015, 0.016975661739706993, -1.258297085762024, 0.8348592519760132, -0.80663001537323, 0.6395437717437744, 1.0355154275894165, -0.01956876367330551, 0.01956876367330551], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02689402550458908, -1.042763352394104, 0.6635767221450806, 0.8886472582817078, -0.6338216066360474, -1.1572060585021973, -0.023358015343546867, 0.023358015343546867, -0.00667582219466567, -1.2148088216781616, 0.8173113465309143, -0.8501182794570923, 0.7303349375724792, 1.0355154275894165, -0.01956876367330551, 0.01956876367330551], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01430533267557621, -0.9824903011322021, 0.6300068497657776, 0.8886472582817078, -0.7181277275085449, -1.1484321355819702, -0.022532092407345772, 0.022532092407345772, -0.016975661739706993, -1.1659799814224243, 0.7829785346984863, -0.881017804145813, 0.7932783961296082, 1.0351338386535645, -0.019558876752853394, 0.019558876752853394], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9313725233078003, 0.5941481590270996, 0.889028787612915, -0.7639048099517822, -1.1438543796539307, -0.020500624552369118, 0.020500624552369118, -0.021171892061829567, -1.123636245727539, 0.7429236173629761, -0.8958953022956848, 0.8264667987823486, 1.0351338386535645, -0.019539106637239456, 0.019539106637239456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.016975661739706993, -0.9054322242736816, 0.5685893297195435, 0.8886472582817078, -0.7887006998062134, -1.1408026218414307, -0.02049068920314312, 0.02049068920314312, -0.021171892061829567, -1.1030365228652954, 0.7131685614585876, -0.9019989371299744, 0.840199887752533, 1.0351338386535645, -0.019509457051753998, 0.019509457051753998], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02384222112596035, -0.9031433463096619, 0.5544747114181519, 0.8882657885551453, -0.802815318107605, -1.1408026218414307, -0.020500624552369118, 0.020500624552369118, -0.014686808921396732, -1.0954070091247559, 0.6960021257400513, -0.9050507545471191, 0.841725766658783, 1.034752368927002, -0.01942054182291031, 0.01942054182291031], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03604944050312042, -0.9100099205970764, 0.5468451976776123, 0.8882657885551453, -0.8093003630638123, -1.1419470310211182, -0.02049068920314312, 0.02049068920314312, -0.0036240178160369396, -1.0923552513122559, 0.6860837936401367, -0.9027618765830994, 0.8329518437385559, 1.034752368927002, -0.01746257022023201, 0.01746257022023201], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05207141116261482, -0.9180209040641785, 0.5430304408073425, 0.8867399096488953, -0.8100633025169373, -1.1453803777694702, -0.02049068920314312, 0.02049068920314312, 0.005149920005351305, -1.0950255393981934, 0.6818875670433044, -0.8928435444831848, 0.8176928162574768, 1.0343708992004395, -0.016538575291633606, 0.016538575291633606], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.061226826161146164, -0.924887478351593, 0.54112309217453, 0.8871213793754578, -0.80663001537323, -1.1488136053085327, -0.02049068920314312, 0.02049068920314312, 0.010109102353453636, -1.1057069301605225, 0.6792172193527222, -0.8821622133255005, 0.8001449704170227, 1.0343708992004395, -0.015891918912529945, 0.015891918912529945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06694895774126053, -0.9283207654953003, 0.5395971536636353, 0.8867399096488953, -0.8024337887763977, -1.1495765447616577, -0.02049068920314312, 0.02049068920314312, 0.011635004542768002, -1.1190584897994995, 0.6780728101730347, -0.8741512298583984, 0.7810711860656738, 1.0343708992004395, -0.015891918912529945, 0.015891918912529945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06961929053068161, -0.9302281141281128, 0.5388342142105103, 0.8871213793754578, -0.7997635006904602, -1.1518653631210327, -0.02049068920314312, 0.02049068920314312, 0.013542382046580315, -1.1312657594680786, 0.6776912808418274, -0.8634698987007141, 0.7597085237503052, 1.0343708992004395, -0.014954417012631893, 0.014954417012631893], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0711451917886734, -0.9325169920921326, 0.5380712747573853, 0.8878843188285828, -0.7982375621795654, -1.1526284217834473, -0.02049068920314312, 0.02049068920314312, 0.013923857361078262, -1.1419470310211182, 0.6776912808418274, -0.8485923409461975, 0.7379644513130188, 1.0343708992004395, -0.01442792546004057, 0.01442792546004057], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.071908138692379, -0.9348058104515076, 0.5380712747573853, 0.8878843188285828, -0.7951858043670654, -1.1560616493225098, -0.02049068920314312, 0.02049068920314312, 0.014686808921396732, -1.1491950750350952, 0.6776912808418274, -0.8367666006088257, 0.7181277275085449, 1.0343708992004395, -0.010942052118480206, 0.010942052118480206], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07267109304666519, -0.9363317489624023, 0.5380712747573853, 0.8878843188285828, -0.7917525172233582, -1.1560616493225098, -0.02049068920314312, 0.02049068920314312, 0.014686808921396732, -1.1549172401428223, 0.6784542798995972, -0.8268482685089111, 0.7070649266242981, 1.0343708992004395, -0.006496358197182417, 0.006496358197182417], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07305257022380829, -0.9382390975952148, 0.5380712747573853, 0.8871213793754578, -0.7890821695327759, -1.1568245887756348, -0.02049068920314312, 0.02049068920314312, 0.014686808921396732, -1.1591134071350098, 0.6795986890792847, -0.8218890428543091, 0.698291003704071, 1.0343708992004395, -0.0026355094742029905, 0.0026355094742029905], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07305257022380829, -0.9386205673217773, 0.5388342142105103, 0.8875028491020203, -0.7883192300796509, -1.1598763465881348, -0.02042114920914173, 0.02042114920914173, 0.014686808921396732, -1.1621652841567993, 0.6799801588058472, -0.8188372850418091, 0.6940947771072388, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07305257022380829, -0.9386205673217773, 0.5392156839370728, 0.8875028491020203, -0.7883192300796509, -1.1675058603286743, -0.01963798701763153, 0.01963798701763153, 0.014686808921396732, -1.1636911630630493, 0.6803616285324097, -0.8154039978981018, 0.6906614899635315, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07305257022380829, -0.9386205673217773, 0.5445563197135925, 0.8871213793754578, -0.7932783961296082, -1.183146357536316, -0.019400790333747864, 0.019400790333747864, 0.014686808921396732, -1.1621652841567993, 0.6803616285324097, -0.8154039978981018, 0.6906614899635315, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07572289556264877, -0.9386205673217773, 0.5529488325119019, 0.8756771087646484, -0.8173113465309143, -1.2060348987579346, -0.018436796963214874, 0.018436796963214874, 0.01506828423589468, -1.1511024236679077, 0.6811245679855347, -0.8150225281715393, 0.6898985505104065, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07877469807863235, -0.9458686113357544, 0.5617227554321289, 0.8279926776885986, -0.8463035225868225, -1.2052719593048096, -0.01890796236693859, 0.01890796236693859, 0.01583123579621315, -1.1297398805618286, 0.6841763854026794, -0.811589241027832, 0.6891355514526367, 1.034752368927002, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08144503086805344, -0.9664682745933533, 0.5727855563163757, 0.7948042750358582, -0.8669031858444214, -1.201075792312622, -0.021296577528119087, 0.021296577528119087, 0.01583123579621315, -1.104943871498108, 0.6929503083229065, -0.8073930144309998, 0.6872282028198242, 1.034752368927002, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08220797777175903, -0.9935530424118042, 0.5827038884162903, 0.7745860815048218, -0.8844510316848755, -1.1999313831329346, -0.021336417645215988, 0.021336417645215988, 0.01583123579621315, -1.0904479026794434, 0.7047760486602783, -0.8047226667404175, 0.6872282028198242, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08258945494890213, -1.0141527652740479, 0.5914778113365173, 0.776493489742279, -0.8985656499862671, -1.1957350969314575, -0.021724974736571312, 0.021724974736571312, 0.01583123579621315, -1.0835813283920288, 0.7146944403648376, -0.80357825756073, 0.691042959690094, 1.034752368927002, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08220797777175903, -1.0328450202941895, 0.6006332635879517, 0.8154039978981018, -0.8993285894393921, -1.2052719593048096, -0.02298012375831604, 0.02298012375831604, 0.01583123579621315, -1.0801479816436768, 0.7200350761413574, -0.8012893795967102, 0.6940947771072388, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08106355369091034, -1.0538262128829956, 0.612077534198761, 0.848210871219635, -0.9012359976768494, -1.2094682455062866, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0790035724639893, 0.7230868935585022, -0.8005264401435852, 0.6952391862869263, 1.034752368927002, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08030059933662415, -1.0759518146514893, 0.6258106231689453, 0.8661402463912964, -0.8936064839363098, -1.2098497152328491, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0790035724639893, 0.724612832069397, -0.8009079098701477, 0.697528064250946, 1.034752368927002, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07839322835206985, -1.0984588861465454, 0.6425955891609192, 0.8760585784912109, -0.8707179427146912, -1.204890489578247, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0790035724639893, 0.725375771522522, -0.8005264401435852, 0.697528064250946, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07839322835206985, -1.120202898979187, 0.6593804955482483, 0.883306622505188, -0.8524070978164673, -1.1919203996658325, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0790035724639893, 0.7249943017959595, -0.8005264401435852, 0.697528064250946, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07839322835206985, -1.1377508640289307, 0.6727321147918701, 0.8878843188285828, -0.8371480703353882, -1.1804760694503784, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0786221027374268, 0.725375771522522, -0.8005264401435852, 0.697528064250946, 1.034752368927002, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07839322835206985, -1.1499580144882202, 0.6795986890792847, 0.88979172706604, -0.8180742859840393, -1.1697947978973389, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0790035724639893, 0.7249943017959595, -0.8005264401435852, 0.697528064250946, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07839322835206985, -1.1591134071350098, 0.6837949156761169, 0.892080545425415, -0.8073930144309998, -1.1606394052505493, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0801479816436768, 0.725375771522522, -0.8001449704170227, 0.6979095339775085, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07877469807863235, -1.1648355722427368, 0.6860837936401367, 0.8974212408065796, -0.7993820309638977, -1.1545357704162598, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0809109210968018, 0.725375771522522, -0.8001449704170227, 0.697528064250946, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07839322835206985, -1.1690318584442139, 0.6887540817260742, 0.9283207654953003, -0.7951858043670654, -1.1560616493225098, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0820554494857788, 0.725375771522522, -0.8001449704170227, 0.697528064250946, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07839322835206985, -1.1724650859832764, 0.6906614899635315, 0.9500648379325867, -0.7944228053092957, -1.1675058603286743, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0847257375717163, 0.725375771522522, -0.7997635006904602, 0.697528064250946, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08258945494890213, -1.1766613721847534, 0.6929503083229065, 0.9618905782699585, -0.7913710474967957, -1.179331660270691, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0881589651107788, 0.725375771522522, -0.8001449704170227, 0.697528064250946, 1.034752368927002, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10204470902681351, -1.178568720817566, 0.6956206560134888, 0.9683756828308105, -0.7871748208999634, -1.190394401550293, -0.02298012375831604, 0.02298012375831604, 0.016975661739706993, -1.0915923118591309, 0.725375771522522, -0.7997635006904602, 0.697528064250946, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12645913660526276, -1.1804760694503784, 0.699053943157196, 0.9721904397010803, -0.7837415337562561, -1.201838731765747, -0.02297017350792885, 0.02297017350792885, 0.016975661739706993, -1.0942625999450684, 0.725375771522522, -0.8001449704170227, 0.697528064250946, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14629587531089783, -1.181620478630066, 0.7032501697540283, 0.9756237268447876, -0.7799267768859863, -1.2106126546859741, -0.022960221394896507, 0.022960221394896507, 0.016975661739706993, -1.0961699485778809, 0.725375771522522, -0.8001449704170227, 0.6971465349197388, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15659570693969727, -1.1789501905441284, 0.7063019871711731, 0.9760051965713501, -0.7803082466125488, -1.2209124565124512, -0.0228606965392828, 0.0228606965392828, 0.016975661739706993, -1.0973143577575684, 0.725375771522522, -0.8001449704170227, 0.6971465349197388, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16269932687282562, -1.1709392070770264, 0.7089722752571106, 0.9779125452041626, -0.7810711860656738, -1.2319753170013428, -0.0228606965392828, 0.0228606965392828, 0.016975661739706993, -1.098840355873108, 0.725375771522522, -0.8001449704170227, 0.6971465349197388, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1657511293888092, -1.1614023447036743, 0.7116426229476929, 0.9779125452041626, -0.7837415337562561, -1.2434195280075073, -0.022342810407280922, 0.022342810407280922, 0.016975661739706993, -1.100366234779358, 0.725375771522522, -0.7997635006904602, 0.6967650651931763, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1680399775505066, -1.1568245887756348, 0.7135500311851501, 0.9779125452041626, -0.7875562906265259, -1.255245327949524, -0.021266700699925423, 0.021266700699925423, 0.016975661739706993, -1.102655053138733, 0.725375771522522, -0.7997635006904602, 0.6963835954666138, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1684214472770691, -1.1575875282287598, 0.7135500311851501, 0.9779125452041626, -0.7940413355827332, -1.264782190322876, -0.02059006504714489, 0.02059006504714489, 0.016975661739706993, -1.1037994623184204, 0.725375771522522, -0.8001449704170227, 0.6971465349197388, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16918440163135529, -1.1648355722427368, 0.7135500311851501, 0.9782940149307251, -0.80357825756073, -1.2769893407821655, -0.020480753853917122, 0.020480753853917122, 0.016975661739706993, -1.1045624017715454, 0.725375771522522, -0.8001449704170227, 0.6971465349197388, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17109178006649017, -1.1713206768035889, 0.7112611532211304, 0.9782940149307251, -0.8127336502075195, -1.2872892618179321, -0.019657770171761513, 0.019657770171761513, 0.016975661739706993, -1.104943871498108, 0.725375771522522, -0.8001449704170227, 0.6971465349197388, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17376211285591125, -1.1739909648895264, 0.7078278660774231, 0.9775310754776001, -0.8192187547683716, -1.2918668985366821, -0.019223153591156006, 0.019223153591156006, 0.016975661739706993, -1.1053253412246704, 0.725375771522522, -0.8001449704170227, 0.6967650651931763, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17681391537189484, -1.1766613721847534, 0.7051575779914856, 0.9779125452041626, -0.8299000263214111, -1.2960631847381592, -0.018075088039040565, 0.018075088039040565, 0.016975661739706993, -1.1053253412246704, 0.725375771522522, -0.8001449704170227, 0.6967650651931763, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17719538509845734, -1.1797131299972534, 0.7036316394805908, 0.9775310754776001, -0.8306630253791809, -1.2991149425506592, -0.015816308557987213, 0.015816308557987213, 0.016975661739706993, -1.1053253412246704, 0.725375771522522, -0.8001449704170227, 0.6967650651931763, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17757686972618103, -1.183146357536316, 0.7024872303009033, 0.9775310754776001, -0.8291370868682861, -1.3002593517303467, -0.010327261872589588, 0.010327261872589588, 0.016975661739706993, -1.1057069301605225, 0.725375771522522, -0.8001449704170227, 0.6948577165603638, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17795833945274353, -1.1869611740112305, 0.700579822063446, 0.9775310754776001, -0.8169298768043518, -1.3067444562911987, -0.007493291050195694, 0.007493291050195694, 0.016975661739706993, -1.1057069301605225, 0.725375771522522, -0.8001449704170227, 0.6948577165603638, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17757686972618103, -1.1919203996658325, 0.699816882610321, 0.9782940149307251, -0.8016708493232727, -1.3109407424926758, -0.005978333298116922, 0.005978333298116922, 0.016975661739706993, -1.1057069301605225, 0.725375771522522, -0.8001449704170227, 0.6952391862869263, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17795833945274353, -1.1987868547439575, 0.6994354128837585, 0.9779125452041626, -0.7909895181655884, -1.3139925003051758, -0.007721322122961283, 0.007721322122961283, 0.016975661739706993, -1.1057069301605225, 0.725375771522522, -0.8001449704170227, 0.6952391862869263, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17795833945274353, -1.2045090198516846, 0.6986724734306335, 0.9782940149307251, -0.7841230034828186, -1.3143739700317383, -0.011368229053914547, 0.011368229053914547, 0.016975661739706993, -1.1057069301605225, 0.725375771522522, -0.8001449704170227, 0.6952391862869263, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17795833945274353, -1.2071794271469116, 0.6979095339775085, 0.9782940149307251, -0.7799267768859863, -1.3143739700317383, -0.011368229053914547, 0.011368229053914547, 0.016975661739706993, -1.1057069301605225, 0.725375771522522, -0.8001449704170227, 0.6952391862869263, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17795833945274353, -1.2087053060531616, 0.6979095339775085, 0.9782940149307251, -0.7726787328720093, -1.3151369094848633, -0.009917525574564934, 0.009917525574564934, 0.016975661739706993, -1.1057069301605225, 0.725375771522522, -0.8001449704170227, 0.6952391862869263, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17795833945274353, -1.2098497152328491, 0.6971465349197388, 0.9782940149307251, -0.7711527943611145, -1.3174258470535278, -0.0005733110010623932, 0.0005733110010623932, 0.016975661739706993, -1.1057069301605225, 0.725375771522522, -0.8001449704170227, 0.6963835954666138, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17795833945274353, -1.2083238363265991, 0.6971465349197388, 0.9782940149307251, -0.7688639760017395, -1.3174258470535278, -0.0006172232679091394, 0.0006172232679091394, 0.016975661739706993, -1.104943871498108, 0.725375771522522, -0.8001449704170227, 0.6979095339775085, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17795833945274353, -1.1934462785720825, 0.699816882610321, 0.9782940149307251, -0.7688639760017395, -1.3174258470535278, -0.0006172232679091394, 0.0006172232679091394, 0.01735713705420494, -1.0973143577575684, 0.7257572412490845, -0.8001449704170227, 0.6994354128837585, 1.0343708992004395, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17414358258247375, -1.1697947978973389, 0.7101167440414429, 0.9782940149307251, -0.7623788714408875, -1.3170443773269653, -0.000620896986220032, 0.000620896986220032, 0.01773861236870289, -1.0877774953842163, 0.7330052852630615, -0.7993820309638977, 0.7009612917900085, 1.033989429473877, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1653696447610855, -1.1419470310211182, 0.7265201807022095, 0.9779125452041626, -0.7352941036224365, -1.3174258470535278, -0.0006172232679091394, 0.0006172232679091394, 0.01773861236870289, -1.0831998586654663, 0.7509346008300781, -0.7883192300796509, 0.6971465349197388, 1.033226490020752, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16002899408340454, -1.120965838432312, 0.7413977384567261, 0.9779125452041626, -0.6872282028198242, -1.3181887865066528, -0.0006172232679091394, 0.0006172232679091394, 0.018120087683200836, -1.0938811302185059, 0.7867932915687561, -0.769245445728302, 0.6860837936401367, 1.032463550567627, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15468832850456238, -1.1118104457855225, 0.7536049485206604, 0.9767681360244751, -0.6181811094284058, -1.3307774066925049, -0.000620896986220032, 0.000620896986220032, 0.020027466118335724, -1.1240177154541016, 0.8382925391197205, -0.7516975402832031, 0.6803616285324097, 1.032463550567627, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1516365259885788, -1.114862322807312, 0.7665750980377197, 0.9767681360244751, -0.5525673031806946, -1.3441290855407715, -0.0006172232679091394, 0.0006172232679091394, 0.024605173617601395, -1.1728465557098389, 0.9019989371299744, -0.7383459210395813, 0.6757839322090149, 1.032463550567627, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1508735716342926, -1.1354619264602661, 0.7906080484390259, 0.9767681360244751, -0.4968718886375427, -1.351758599281311, -0.0006172232679091394, 0.0006172232679091394, 0.03223468363285065, -1.2273975610733032, 0.967231273651123, -0.7307164072990417, 0.6746395230293274, 1.0328450202941895, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14858472347259521, -1.1671243906021118, 0.8222705721855164, 0.9771496057510376, -0.46177613735198975, -1.356717824935913, -0.0006172232679091394, 0.0006172232679091394, 0.04329747334122658, -1.28233003616333, 1.0313191413879395, -0.7265201807022095, 0.6700618267059326, 1.0328450202941895, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14782176911830902, -1.2037460803985596, 0.8588922023773193, 0.9779125452041626, -0.4339284300804138, -1.3593881130218506, -0.0006172232679091394, 0.0006172232679091394, 0.05397878959774971, -1.334973692893982, 1.0908293724060059, -0.7249943017959595, 0.6624323129653931, 1.033226490020752, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14476996660232544, -1.2399863004684448, 0.8978027105331421, 0.9779125452041626, -0.41294726729393005, -1.3616769313812256, -0.0006172232679091394, 0.0006172232679091394, 0.05741206929087639, -1.3834210634231567, 1.1461433172225952, -0.7211795449256897, 0.6528953909873962, 1.0355154275894165, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13904783129692078, -1.273556113243103, 0.9313725233078003, 0.9779125452041626, -0.4018844962120056, -1.362058401107788, -0.0006172232679091394, 0.0006172232679091394, 0.06008239835500717, -1.430724024772644, 1.1926833391189575, -0.7211795449256897, 0.6483176946640015, 1.035896897315979, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1329442262649536, -1.3048371076583862, 0.9561684727668762, 0.9779125452041626, -0.39768826961517334, -1.362058401107788, -0.0006172232679091394, 0.0006172232679091394, 0.06160829961299896, -1.4719233512878418, 1.2243458032608032, -0.7139315009117126, 0.6433585286140442, 1.035896897315979, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12684062123298645, -1.333447813987732, 0.9699015617370605, 0.9782940149307251, -0.3934920132160187, -1.362058401107788, -0.0006172232679091394, 0.0006172232679091394, 0.06351567804813385, -1.508163571357727, 1.2415121793746948, -0.6898985505104065, 0.6280995011329651, 1.0362783670425415, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12226291000843048, -1.3609139919281006, 0.9775310754776001, 0.9779125452041626, -0.3889143168926239, -1.362058401107788, -0.000620896986220032, 0.000620896986220032, 0.06351567804813385, -1.5444037914276123, 1.2502861022949219, -0.6483176946640015, 0.6074998378753662, 1.0362783670425415, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1203555315732956, -1.3910505771636963, 0.9824903011322021, 0.9779125452041626, -0.368314653635025, -1.3708323240280151, -0.000620896986220032, 0.000620896986220032, 0.06351567804813385, -1.579118013381958, 1.255245327949524, -0.5922408103942871, 0.5804150700569153, 1.0362783670425415, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1192111074924469, -1.4288166761398315, 0.9916456937789917, 0.9775310754776001, -0.3278782367706299, -1.3960098028182983, -0.000620896986220032, 0.000620896986220032, 0.06389715522527695, -1.6134508848190308, 1.2609673738479614, -0.5285343527793884, 0.5472266674041748, 1.0362783670425415, -0.0007583947735838592, 0.0007583947735838592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1188296303153038, -1.4776455163955688, 1.0114823579788208, 0.9779125452041626, -0.2798123061656952, -1.437209129333496, -0.009026685729622841, 0.009026685729622841, 0.06389715522527695, -1.6546502113342285, 1.2819485664367676, -0.4655908942222595, 0.5148012638092041, 1.036659836769104, -0.0010230675106868148, 0.0010230675106868148], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1184481605887413, -1.5348668098449707, 1.042000412940979, 0.9779125452041626, -0.24090181291103363, -1.4909971952438354, -0.020838672295212746, 0.020838672295212746, 0.06389715522527695, -1.7076753377914429, 1.3155183792114258, -0.3858625292778015, 0.49267566204071045, 1.036659836769104, -0.013573353178799152, 0.013573353178799152], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11577782779932022, -1.5829328298568726, 1.0744259357452393, 0.9771496057510376, -0.2161058932542801, -1.5386816263198853, -0.024171307682991028, 0.024171307682991028, 0.06771191209554672, -1.7504005432128906, 1.3448920249938965, -0.3122377395629883, 0.4697871506214142, 1.0370413064956665, -0.022611772641539574, 0.022611772641539574], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1024261862039566, -1.6058213710784912, 1.0938811302185059, 0.9775310754776001, -0.20695048570632935, -1.5650033950805664, -0.024171307682991028, 0.024171307682991028, 0.07000076025724411, -1.7710002660751343, 1.3609139919281006, -0.26760509610176086, 0.4655908942222595, 1.0393301248550415, -0.024250449612736702, 0.024250449612736702], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07839322835206985, -1.5981918573379517, 1.0984588861465454, 0.9782940149307251, -0.24242770671844482, -1.5676738023757935, -0.0241515152156353, 0.0241515152156353, 0.05970092490315437, -1.7706187963485718, 1.3689249753952026, -0.27065691351890564, 0.506790280342102, 1.039711594581604, -0.02441849373281002, 0.02441849373281002], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05245288833975792, -1.5512703657150269, 1.0763332843780518, 0.9786755442619324, -0.30346378684043884, -1.5360113382339478, -0.020600007846951485, 0.020600007846951485, 0.04139009863138199, -1.730945348739624, 1.361295461654663, -0.35229265689849854, 0.5693522691726685, 1.038948655128479, -0.02338782511651516, 0.02338782511651516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03376058489084244, -1.4776455163955688, 1.0400930643081665, 0.9790570139884949, -0.4037918746471405, -1.4608606100082397, -0.01949957385659218, 0.01949957385659218, 0.02994582988321781, -1.6538872718811035, 1.3235293626785278, -0.49343863129615784, 0.6555657386779785, 1.038185715675354, -0.02331826090812683, 0.02331826090812683], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.024986648932099342, -1.3864728212356567, 0.9874494671821594, 0.9790570139884949, -0.5506599545478821, -1.359769582748413, -0.018495576456189156, 0.018495576456189156, 0.02689402550458908, -1.5566109418869019, 1.255245327949524, -0.6395437717437744, 0.7673380374908447, 1.0355154275894165, -0.02331826090812683, 0.02331826090812683], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02079041674733162, -1.2834744453430176, 0.9100099205970764, 0.9790570139884949, -0.6799801588058472, -1.273556113243103, -0.018348686397075653, 0.018348686397075653, 0.023079270496964455, -1.4551384449005127, 1.1480506658554077, -0.7516975402832031, 0.8497368097305298, 1.0355154275894165, -0.02331826090812683, 0.02331826090812683], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.016975661739706993, -1.177042841911316, 0.8142595291137695, 0.9798199534416199, -0.7719157934188843, -1.2098497152328491, -0.018348686397075653, 0.018348686397075653, 0.01888304017484188, -1.3464179039001465, 1.0191118717193604, -0.8276112079620361, 0.8787289261817932, 1.0355154275894165, -0.02331826090812683, 0.02331826090812683], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01583123579621315, -1.0770962238311768, 0.7192721366882324, 0.9794384837150574, -0.8188372850418091, -1.1602579355239868, -0.018348686397075653, 0.018348686397075653, 0.018501564860343933, -1.2453268766403198, 0.9004730582237244, -0.8691920638084412, 0.890554666519165, 1.0355154275894165, -0.022472325712442398, 0.022472325712442398], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.013542382046580315, -0.9988937377929688, 0.6418325901031494, 0.9798199534416199, -0.8257037997245789, -1.1301213502883911, -0.018348686397075653, 0.018348686397075653, 0.02040894143283367, -1.1633096933364868, 0.7993820309638977, -0.8962767720222473, 0.88979172706604, 1.0351338386535645, -0.020500624552369118, 0.020500624552369118], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9466315507888794, 0.5846112966537476, 0.9794384837150574, -0.8104447722434998, -1.112191915512085, -0.018348686397075653, 0.018348686397075653, 0.020027466118335724, -1.1072328090667725, 0.726138710975647, -0.9138246774673462, 0.8775845170021057, 1.034752368927002, -0.019934993237257004, 0.019934993237257004], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9225986003875732, 0.5483710765838623, 0.9794384837150574, -0.7917525172233582, -1.102655053138733, -0.018348686397075653, 0.018348686397075653, 0.03185320645570755, -1.0786221027374268, 0.6822690367698669, -0.9203097820281982, 0.8707179427146912, 1.032463550567627, -0.018760502338409424, 0.018760502338409424], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9149690866470337, 0.5251010656356812, 0.9794384837150574, -0.7719157934188843, -1.0961699485778809, -0.018348686397075653, 0.018348686397075653, 0.05359731614589691, -1.0675593614578247, 0.6578545570373535, -0.9294651746749878, 0.8539330363273621, 1.031700611114502, -0.01875067874789238, 0.01875067874789238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9153505563735962, 0.5121309161186218, 0.9786755442619324, -0.7589455842971802, -1.0950255393981934, -0.018348686397075653, 0.018348686397075653, 0.07419699430465698, -1.0683223009109497, 0.6452658772468567, -0.9386205673217773, 0.8226520419120789, 1.031700611114502, -0.01793859153985977, 0.01793859153985977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9172579646110535, 0.5018310546875, 0.9786755442619324, -0.7509346008300781, -1.0919737815856934, -0.018348686397075653, 0.018348686397075653, 0.08869306743144989, -1.0793850421905518, 0.6387808322906494, -0.9409094452857971, 0.7887006998062134, 1.031700611114502, -0.017124302685260773, 0.017124302685260773], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9180209040641785, 0.49267566204071045, 0.9782940149307251, -0.7444495558738708, -1.0919737815856934, -0.018348686397075653, 0.018348686397075653, 0.09708552807569504, -1.0927367210388184, 0.6357290148735046, -0.9477760195732117, 0.7532234787940979, 1.031700611114502, -0.016366731375455856, 0.016366731375455856], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.918402373790741, 0.4854276478290558, 0.9782940149307251, -0.7383459210395813, -1.0919737815856934, -0.018338901922106743, 0.018338901922106743, 0.09975585341453552, -1.104943871498108, 0.6342030763626099, -0.955024003982544, 0.7204165458679199, 1.031700611114502, -0.015618320554494858, 0.015618320554494858], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9229800701141357, 0.4812313914299011, 0.9782940149307251, -0.734149694442749, -1.0923552513122559, -0.018338901922106743, 0.018338901922106743, 0.10433356463909149, -1.1167696714401245, 0.6330586671829224, -0.9584572911262512, 0.691805899143219, 1.031700611114502, -0.014685802161693573, 0.014685802161693573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.927176296710968, 0.47894254326820374, 0.9782940149307251, -0.7280460596084595, -1.0919737815856934, -0.018329119309782982, 0.018329119309782982, 0.10585946589708328, -1.1270694732666016, 0.6330586671829224, -0.9611276388168335, 0.6673914790153503, 1.031700611114502, -0.014400382526218891, 0.014400382526218891], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9309910535812378, 0.47817960381507874, 0.9782940149307251, -0.7234683632850647, -1.0923552513122559, -0.018260659649968147, 0.018260659649968147, 0.11158160120248795, -1.1369879245758057, 0.6330586671829224, -0.9618905782699585, 0.647936224937439, 1.031700611114502, -0.011972141452133656, 0.011972141452133656], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9348058104515076, 0.47779813408851624, 0.9782940149307251, -0.7192721366882324, -1.0923552513122559, -0.018260659649968147, 0.018260659649968147, 0.1192111074924469, -1.1476691961288452, 0.6330586671829224, -0.9618905782699585, 0.6364919543266296, 1.0313191413879395, -0.010021320544183254, 0.010021320544183254], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9382390975952148, 0.47779813408851624, 0.9782940149307251, -0.7146944403648376, -1.0923552513122559, -0.018260659649968147, 0.018260659649968147, 0.12722209095954895, -1.1610208749771118, 0.6330586671829224, -0.9626535177230835, 0.6242847442626953, 1.0313191413879395, -0.00804686639457941, 0.00804686639457941], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9401465058326721, 0.47779813408851624, 0.9782940149307251, -0.7127870321273804, -1.0923552513122559, -0.018260659649968147, 0.018260659649968147, 0.134470134973526, -1.1709392070770264, 0.6330586671829224, -0.9630350470542908, 0.612077534198761, 1.0313191413879395, -0.0024071966763585806, 0.0024071966763585806], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9405279755592346, 0.47779813408851624, 0.9782940149307251, -0.7120240926742554, -1.0923552513122559, -0.018260659649968147, 0.018260659649968147, 0.13828489184379578, -1.1739909648895264, 0.6330586671829224, -0.9714275002479553, 0.6071183085441589, 1.0313191413879395, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9405279755592346, 0.47703516483306885, 0.9782940149307251, -0.7097352743148804, -1.0923552513122559, -0.018260659649968147, 0.018260659649968147, 0.14057374000549316, -1.1678873300552368, 0.6330586671829224, -1.0061417818069458, 0.6082627773284912, 1.0313191413879395, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9405279755592346, 0.47665369510650635, 0.9782940149307251, -0.7097352743148804, -1.0919737815856934, -0.018260659649968147, 0.018260659649968147, 0.14171816408634186, -1.1541543006896973, 0.6357290148735046, -1.0690852403640747, 0.6265735626220703, 1.0313191413879395, -0.0004256725078448653, 0.0004256725078448653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9420538544654846, 0.47665369510650635, 0.9782940149307251, -0.7093538045883179, -1.0919737815856934, -0.018260659649968147, 0.018260659649968147, 0.14209964871406555, -1.1400396823883057, 0.6464102864265442, -1.1568245887756348, 0.6528953909873962, 1.0313191413879395, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9439612627029419, 0.47703516483306885, 0.9782940149307251, -0.7085908055305481, -1.0912108421325684, -0.018260659649968147, 0.018260659649968147, 0.14209964871406555, -1.1270694732666016, 0.6612878441810608, -1.2407492399215698, 0.6803616285324097, 1.0313191413879395, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9454871416091919, 0.47894254326820374, 0.9782940149307251, -0.7051575779914856, -1.0877774953842163, -0.018260659649968147, 0.018260659649968147, 0.15926603972911835, -1.1182955503463745, 0.6754024624824524, -1.3269627094268799, 0.7066834568977356, 1.0313191413879395, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9466315507888794, 0.4797055125236511, 0.9782940149307251, -0.7059205174446106, -1.0835813283920288, -0.018260659649968147, 0.018260659649968147, 0.18940261006355286, -1.1144808530807495, 0.6841763854026794, -1.4112688302993774, 0.7337682247161865, 1.0313191413879395, -0.0004256725078448653, 0.0004256725078448653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9481574892997742, 0.481612890958786, 0.9786755442619324, -0.7158388495445251, -1.0786221027374268, -0.018250884488224983, 0.018250884488224983, 0.2130540907382965, -1.1144808530807495, 0.6887540817260742, -1.4742122888565063, 0.7593270540237427, 1.0313191413879395, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9508277773857117, 0.4888609051704407, 0.9782940149307251, -0.7368200421333313, -1.0687037706375122, -0.018006816506385803, 0.018006816506385803, 0.22564278542995453, -1.1152437925338745, 0.6914244294166565, -1.5119783878326416, 0.7768749594688416, 1.030937671661377, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012779430486261845, -0.9557870030403137, 0.4987792670726776, 0.9782940149307251, -0.7673380374908447, -1.057259440422058, -0.017773132771253586, 0.017773132771253586, 0.23327229917049408, -1.115625262260437, 0.692568838596344, -1.5295262336730957, 0.7883192300796509, 1.0297932624816895, -0.0004256725078448653, 0.0004256725078448653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.021553369238972664, -0.967231273651123, 0.5106050372123718, 0.9786755442619324, -0.7852674126625061, -1.050011396408081, -0.01778285950422287, 0.01778285950422287, 0.23823148012161255, -1.1160067319869995, 0.693331778049469, -1.5348668098449707, 0.7925154566764832, 1.028648853302002, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04291599988937378, -0.9866865277290344, 0.5254825949668884, 0.9782940149307251, -0.7940413355827332, -1.0423818826675415, -0.01778285950422287, 0.01778285950422287, 0.24166475236415863, -1.116388201713562, 0.693331778049469, -1.5383001565933228, 0.7921339869499207, 1.028648853302002, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07991912961006165, -1.0053788423538208, 0.5399786233901978, 0.9782940149307251, -0.8009079098701477, -1.0385671854019165, -0.018026316538453102, 0.018026316538453102, 0.24280919134616852, -1.1167696714401245, 0.693331778049469, -1.5383001565933228, 0.7898451089859009, 1.0290303230285645, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11577782779932022, -1.0202564001083374, 0.5514228940010071, 0.9775310754776001, -0.8024337887763977, -1.0378042459487915, -0.01820201985538006, 0.01820201985538006, 0.2443350851535797, -1.1167696714401245, 0.693331778049469, -1.5379186868667603, 0.7890821695327759, 1.0290303230285645, -0.0004256725078448653, 0.0004256725078448653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13828489184379578, -1.034752368927002, 0.5601968169212341, 0.9775310754776001, -0.8020523190498352, -1.038948655128479, -0.01820201985538006, 0.01820201985538006, 0.2443350851535797, -1.1167696714401245, 0.693331778049469, -1.5375372171401978, 0.7887006998062134, 1.030174732208252, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1516365259885788, -1.054207682609558, 0.5666819214820862, 0.9775310754776001, -0.8005264401435852, -1.0435264110565186, -0.01820201985538006, 0.01820201985538006, 0.2443350851535797, -1.117151141166687, 0.693331778049469, -1.5371557474136353, 0.7883192300796509, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16155488789081573, -1.0770962238311768, 0.5743114352226257, 0.9775310754776001, -0.7986190319061279, -1.047722578048706, -0.01820201985538006, 0.01820201985538006, 0.2443350851535797, -1.117151141166687, 0.693331778049469, -1.5337224006652832, 0.7845044732093811, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17795833945274353, -1.0950255393981934, 0.5823224186897278, 0.9775310754776001, -0.7898451089859009, -1.0553520917892456, -0.01820201985538006, 0.01820201985538006, 0.2443350851535797, -1.117914080619812, 0.693331778049469, -1.5333409309387207, 0.7814526557922363, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2004653960466385, -1.1057069301605225, 0.5891889929771423, 0.9775310754776001, -0.7768749594688416, -1.0667964220046997, -0.018192250281572342, 0.018192250281572342, 0.2443350851535797, -1.1182955503463745, 0.693331778049469, -1.5329594612121582, 0.7806897163391113, 1.031700611114502, -0.0004256725078448653, 0.0004256725078448653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22220951318740845, -1.1118104457855225, 0.5933852195739746, 0.9767681360244751, -0.7658121585845947, -1.0778591632843018, -0.017520708963274956, 0.017520708963274956, 0.2443350851535797, -1.120202898979187, 0.693331778049469, -1.5302891731262207, 0.778019368648529, 1.031700611114502, -0.0004256725078448653, 0.0004256725078448653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23517967760562897, -1.1152437925338745, 0.5949110984802246, 0.9767681360244751, -0.760471522808075, -1.0893033742904663, -0.013672436587512493, 0.013672436587512493, 0.2443350851535797, -1.1217288970947266, 0.693331778049469, -1.5302891731262207, 0.777256429195404, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24166475236415863, -1.117151141166687, 0.5952925682067871, 0.9775310754776001, -0.7593270540237427, -1.101129174232483, -0.004617130383849144, 0.004617130383849144, 0.2443350851535797, -1.1232547760009766, 0.693331778049469, -1.5295262336730957, 0.7734416723251343, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2458609938621521, -1.1175326108932495, 0.5949110984802246, 0.9775310754776001, -0.768482506275177, -1.1053253412246704, -0.0004720853758044541, 0.0004720853758044541, 0.2443350851535797, -1.1240177154541016, 0.693331778049469, -1.5249484777450562, 0.7742046117782593, 1.0320820808410645, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2466239482164383, -1.1175326108932495, 0.5937666893005371, 0.9782940149307251, -0.7887006998062134, -1.104180932044983, -0.0004720853758044541, 0.0004720853758044541, 0.2443350851535797, -1.122110366821289, 0.693331778049469, -1.5215152502059937, 0.7837415337562561, 1.0320820808410645, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24204623699188232, -1.1160067319869995, 0.5926222801208496, 0.9782940149307251, -0.8222705721855164, -1.0923552513122559, -0.0004720853758044541, 0.0004720853758044541, 0.2443350851535797, -1.115625262260437, 0.693331778049469, -1.5188448429107666, 0.8020523190498352, 1.0320820808410645, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22373540699481964, -1.1118104457855225, 0.5891889929771423, 0.9786755442619324, -0.8573662638664246, -1.0755703449249268, -0.0004720853758044541, 0.0004720853758044541, 0.2443350851535797, -1.106088399887085, 0.693331778049469, -1.518463373184204, 0.8333333134651184, 1.0320820808410645, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19512474536895752, -1.1022735834121704, 0.5827038884162903, 0.9786755442619324, -0.9000915288925171, -1.056496500968933, -0.0004720853758044541, 0.0004720853758044541, 0.2443350851535797, -1.0973143577575684, 0.693331778049469, -1.5180819034576416, 0.8806362748146057, 1.0320820808410645, -0.0004256725078448653, 0.0004256725078448653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16422522068023682, -1.0877774953842163, 0.5739299654960632, 0.9786755442619324, -0.9431982636451721, -1.0343708992004395, -0.0004720853758044541, 0.0004720853758044541, 0.2454795092344284, -1.0908293724060059, 0.693331778049469, -1.5180819034576416, 0.9370946884155273, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14591439068317413, -1.0740443468093872, 0.5651560425758362, 0.9786755442619324, -0.9809643626213074, -1.0202564001083374, -0.0004720853758044541, 0.0004720853758044541, 0.2458609938621521, -1.0851072072982788, 0.693331778049469, -1.518463373184204, 0.9885938763618469, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1356145590543747, -1.0656518936157227, 0.5594338774681091, 0.9786755442619324, -1.0160601139068604, -1.0107194185256958, -0.0004720853758044541, 0.0004720853758044541, 0.2462424635887146, -1.0816738605499268, 0.692568838596344, -1.5188448429107666, 1.041237473487854, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13065537810325623, -1.0553520917892456, 0.5525673031806946, 0.9786755442619324, -1.0488669872283936, -1.0053788423538208, -0.0004720853758044541, 0.0004720853758044541, 0.2462424635887146, -1.0782406330108643, 0.690280020236969, -1.519226312637329, 1.0961699485778809, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12684062123298645, -1.043144941329956, 0.5445563197135925, 0.9786755442619324, -1.0801479816436768, -1.0015640258789062, -0.0004720853758044541, 0.0004720853758044541, 0.2508201599121094, -1.0736628770828247, 0.6876096725463867, -1.516937494277954, 1.1446174383163452, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12645913660526276, -1.0263599157333374, 0.5327305793762207, 0.9794384837150574, -1.1118104457855225, -1.0015640258789062, -0.0004720853758044541, 0.0004720853758044541, 0.2645532786846161, -1.0667964220046997, 0.6834134459495544, -1.5070191621780396, 1.1900129318237305, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12607766687870026, -1.0057603120803833, 0.5167086124420166, 0.9802014231681824, -1.1385138034820557, -1.0019454956054688, -0.0004720853758044541, 0.0004720853758044541, 0.28667888045310974, -1.057259440422058, 0.6773098111152649, -1.492904543876648, 1.2270160913467407, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12607766687870026, -0.9828717708587646, 0.4968718886375427, 0.9805828928947449, -1.1652170419692993, -1.0065232515335083, -0.0004720853758044541, 0.0004720853758044541, 0.308041512966156, -1.0473411083221436, 0.6681544184684753, -1.4726864099502563, 1.2483787536621094, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12569619715213776, -0.9611276388168335, 0.47779813408851624, 0.9813458323478699, -1.184290885925293, -1.0118639469146729, -0.0004720853758044541, 0.0004720853758044541, 0.3229190409183502, -1.040474534034729, 0.657473087310791, -1.4505608081817627, 1.268596887588501, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12569619715213776, -0.9439612627029419, 0.46177613735198975, 0.9809643626213074, -1.2014572620391846, -1.0187304019927979, -0.0004720853758044541, 0.0004720853758044541, 0.33054855465888977, -1.032463550567627, 0.6460288166999817, -1.436446189880371, 1.2899595499038696, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12569619715213776, -0.9340428709983826, 0.4518577754497528, 0.9805828928947449, -1.2151904106140137, -1.0248340368270874, -0.0004720853758044541, 0.0004720853758044541, 0.33588922023773193, -1.021400809288025, 0.6322957277297974, -1.4208056926727295, 1.3094148635864258, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12569619715213776, -0.9294651746749878, 0.44766154885292053, 0.9802014231681824, -1.2266346216201782, -1.028648853302002, -0.0004720853758044541, 0.0004720853758044541, 0.3389410376548767, -1.0084306001663208, 0.6177996397018433, -1.4055466651916504, 1.3277256488800049, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12569619715213776, -0.9260318875312805, 0.44422826170921326, 0.9802014231681824, -1.2361714839935303, -1.032463550567627, -0.0004720853758044541, 0.0004720853758044541, 0.3404669165611267, -0.9927901029586792, 0.5983443856239319, -1.3864728212356567, 1.343747615814209, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12569619715213776, -0.925650417804718, 0.44270238280296326, 0.9798199534416199, -1.2418936491012573, -1.035896897315979, -0.0004720853758044541, 0.0004720853758044541, 0.3419928252696991, -0.9798199534416199, 0.579270601272583, -1.3651102781295776, 1.3544288873672485, 1.0320820808410645, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12569619715213776, -0.925650417804718, 0.44155794382095337, 0.9798199534416199, -1.2468528747558594, -1.039711594581604, -0.0004720853758044541, 0.0004720853758044541, 0.3427557647228241, -0.9683756828308105, 0.5621042251586914, -1.348706841468811, 1.362821340560913, 1.031700611114502, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1329442262649536, -0.9225986003875732, 0.4381246566772461, 0.9798199534416199, -1.2502861022949219, -1.0442893505096436, -0.0004720853758044541, 0.0004720853758044541, 0.34504464268684387, -0.9569314122200012, 0.5479896068572998, -1.3338292837142944, 1.3700693845748901, 1.0320820808410645, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14705882966518402, -0.919165313243866, 0.4331654906272888, 0.9794384837150574, -1.256008267402649, -1.0473411083221436, -0.0004720853758044541, 0.0004720853758044541, 0.34733349084854126, -0.9454871416091919, 0.536163866519928, -1.3239108324050903, 1.3754100799560547, 1.0320820808410645, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15659570693969727, -0.9134432077407837, 0.42553597688674927, 0.9794384837150574, -1.256771206855774, -1.051155924797058, -0.0004720853758044541, 0.0004720853758044541, 0.34885939955711365, -0.9378576278686523, 0.5266270041465759, -1.3158998489379883, 1.3803693056106567, 1.0320820808410645, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16269932687282562, -0.9027618765830994, 0.41561761498451233, 0.9798199534416199, -1.2579156160354614, -1.0523003339767456, -0.0004720853758044541, 0.0004720853758044541, 0.35114824771881104, -0.9336614012718201, 0.5209048390388489, -1.3086519241333008, 1.3868544101715088, 1.0320820808410645, -0.0004256725078448653, 0.0004256725078448653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.164988175034523, -0.890554666519165, 0.4079881012439728, 0.9798199534416199, -1.2594414949417114, -1.054970622062683, -0.0004720853758044541, 0.0004720853758044541, 0.35229265689849854, -0.9309910535812378, 0.5178530812263489, -1.3040741682052612, 1.3929579257965088, 1.0320820808410645, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1661325991153717, -0.882543683052063, 0.4030289053916931, 0.9798199534416199, -1.259822964668274, -1.0553520917892456, -0.0004720853758044541, 0.0004720853758044541, 0.3526741564273834, -0.9298466444015503, 0.5159456729888916, -1.3014038801193237, 1.4017318487167358, 1.0320820808410645, -0.00042211756226606667, 0.00042211756226606667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1672770231962204, -0.8779659867286682, 0.4015030264854431, 0.9802014231681824, -1.260585904121399, -1.0576409101486206, -0.0014928628224879503, 0.0014928628224879503, 0.3534370958805084, -0.9290837049484253, 0.5155642032623291, -1.3010224103927612, 1.4127947092056274, 1.0320820808410645, -0.0015855558449402452, 0.0015855558449402452], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1668955534696579, -0.8714808821678162, 0.41065841913223267, 1.0114823579788208, -1.2636377811431885, -1.0938811302185059, -0.009538175538182259, 0.009538175538182259, 0.3538185656070709, -0.9252689480781555, 0.5155642032623291, -1.3139925003051758, 1.423475980758667, 1.0320820808410645, -0.004547487944364548, 0.004547487944364548], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.164988175034523, -0.8497368097305298, 0.43240252137184143, 1.1064698696136475, -1.263256311416626, -1.1717021465301514, -0.016797209158539772, 0.016797209158539772, 0.3538185656070709, -0.9134432077407837, 0.5163271427154541, -1.335736632347107, 1.434157371520996, 1.0320820808410645, -0.008820860646665096, 0.008820860646665096], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16269932687282562, -0.8192187547683716, 0.46215763688087463, 1.1701762676239014, -1.263256311416626, -1.2293049097061157, -0.016749238595366478, 0.016749238595366478, 0.3542000353336334, -0.8916990756988525, 0.5235751867294312, -1.3483253717422485, 1.439497947692871, 1.0328450202941895, -0.009011371061205864, 0.009011371061205864], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16193637251853943, -0.7948042750358582, 0.4983977973461151, 1.2083238363265991, -1.2537193298339844, -1.2701228857040405, -0.013055128045380116, 0.013055128045380116, 0.3542000353336334, -0.8627069592475891, 0.5357823967933655, -1.3712139129638672, 1.4429312944412231, 1.036659836769104, -0.008934960700571537, 0.008934960700571537], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16155488789081573, -0.7738231420516968, 0.5350194573402405, 1.2300678491592407, -1.2212939262390137, -1.3094148635864258, -0.004380836151540279, 0.004380836151540279, 0.3542000353336334, -0.8264667987823486, 0.5579079985618591, -1.3975356817245483, 1.434157371520996, 1.0652704238891602, -0.0011694934219121933, 0.0011694934219121933], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19130998849868774, -0.7551308274269104, 0.5575265288352966, 1.2380788326263428, -1.1697947978973389, -1.3368810415267944, -4.539007932180539e-06, 4.539007932180539e-06, 0.3542000353336334, -0.7833600640296936, 0.5773632526397705, -1.3853284120559692, 1.3891432285308838, 1.0805294513702393, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25272753834724426, -0.7547493577003479, 0.572022557258606, 1.2388418912887573, -1.120202898979187, -1.3506141901016235, -4.539007932180539e-06, 4.539007932180539e-06, 0.3542000353336334, -0.7639048099517822, 0.5876630544662476, -1.3281071186065674, 1.3555734157562256, 1.0725184679031372, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.32024872303009033, -0.7860303521156311, 0.580033540725708, 1.2418936491012573, -1.0896848440170288, -1.3616769313812256, -4.539007932180539e-06, 4.539007932180539e-06, 0.3542000353336334, -0.7837415337562561, 0.5899519324302673, -1.2895780801773071, 1.333447813987732, 1.0603113174438477, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3702220320701599, -0.8310444951057434, 0.5846112966537476, 1.2422751188278198, -1.0763332843780518, -1.3647288084030151, -4.539007932180539e-06, 4.539007932180539e-06, 0.3542000353336334, -0.8241779208183289, 0.5903334021568298, -1.270504355430603, 1.3265812397003174, 1.053444743156433, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4011215269565582, -0.8714808821678162, 0.5869001150131226, 1.2453268766403198, -1.0706111192703247, -1.3658732175827026, -4.539007932180539e-06, 4.539007932180539e-06, 0.3549630045890808, -0.8661402463912964, 0.5903334021568298, -1.265545129776001, 1.3288700580596924, 1.050011396408081, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4175249934196472, -0.8974212408065796, 0.5876630544662476, 1.2453268766403198, -1.0694667100906372, -1.361295461654663, -4.539007932180539e-06, 4.539007932180539e-06, 0.3561074137687683, -0.8943694233894348, 0.5899519324302673, -1.2689783573150635, 1.341458797454834, 1.046959638595581, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42591744661331177, -0.9138246774673462, 0.5865186452865601, 1.2453268766403198, -1.0683223009109497, -1.347943902015686, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -0.9180209040641785, 0.5895704627037048, -1.2869077920913696, 1.3536659479141235, 1.0465781688690186, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43087664246559143, -0.9287022352218628, 0.5827038884162903, 1.2457083463668823, -1.0671778917312622, -1.3403143882751465, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -0.9397650361061096, 0.5895704627037048, -1.3078888654708862, 1.3647288084030151, 1.046196699142456, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43240252137184143, -0.9435797929763794, 0.576981782913208, 1.2453268766403198, -1.0645074844360352, -1.335736632347107, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -0.9676127433776855, 0.5895704627037048, -1.3254368305206299, 1.3700693845748901, 1.0458152294158936, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4343098998069763, -0.9554055333137512, 0.568970799446106, 1.2457083463668823, -1.0618371963500977, -1.3319218158721924, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -0.9939345121383667, 0.5895704627037048, -1.339932918548584, 1.3704508543014526, 1.045433759689331, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4343098998069763, -0.9630350470542908, 0.5594338774681091, 1.2457083463668823, -1.0538262128829956, -1.3315403461456299, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -1.0160601139068604, 0.5891889929771423, -1.348706841468811, 1.3658732175827026, 1.043144941329956, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4343098998069763, -0.9683756828308105, 0.5506599545478821, 1.2457083463668823, -1.0458152294158936, -1.3303959369659424, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -1.029411792755127, 0.5888075232505798, -1.361295461654663, 1.3529030084609985, 1.043144941329956, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43163958191871643, -0.9706645011901855, 0.5445563197135925, 1.2457083463668823, -1.0408560037612915, -1.3284885883331299, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -1.0370413064956665, 0.5888075232505798, -1.3715953826904297, 1.346036434173584, 1.043144941329956, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42973220348358154, -0.9710460305213928, 0.5415045619010925, 1.2460898160934448, -1.038185715675354, -1.3284885883331299, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -1.0408560037612915, 0.5888075232505798, -1.3776988983154297, 1.3433661460876465, 1.0435264110565186, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42782482504844666, -0.9699015617370605, 0.5399786233901978, 1.2457083463668823, -1.038185715675354, -1.3284885883331299, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -1.0408560037612915, 0.5888075232505798, -1.3830395936965942, 1.340695858001709, 1.0435264110565186, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42782482504844666, -0.9660868048667908, 0.5422675013542175, 1.2460898160934448, -1.0393301248550415, -1.3284885883331299, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -1.028648853302002, 0.5891889929771423, -1.3815137147903442, 1.3376439809799194, 1.0435264110565186, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42782482504844666, -0.9523537158966064, 0.5537117719650269, 1.2460898160934448, -1.045433759689331, -1.3330663442611694, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -0.9916456937789917, 0.5945296287536621, -1.3658732175827026, 1.336499571800232, 1.043907880783081, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42782482504844666, -0.925650417804718, 0.571259617805481, 1.2460898160934448, -1.044670820236206, -1.338025450706482, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -0.9290837049484253, 0.6013962030410767, -1.341458797454834, 1.3200961351394653, 1.0465781688690186, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42782482504844666, -0.8886472582817078, 0.5872815847396851, 1.2457083463668823, -1.0305562019348145, -1.3441290855407715, -4.539007932180539e-06, 4.539007932180539e-06, 0.3564889132976532, -0.8546959757804871, 0.6048294901847839, -1.3071259260177612, 1.2811856269836426, 1.0465781688690186, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42782482504844666, -0.8501182794570923, 0.5949110984802246, 1.2460898160934448, -1.0034713745117188, -1.3551918268203735, -4.539007932180539e-06, 4.539007932180539e-06, 0.344663143157959, -0.7928969264030457, 0.6052109599113464, -1.2510490417480469, 1.2178606986999512, 1.0465781688690186, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42782482504844666, -0.8203631639480591, 0.5983443856239319, 1.2460898160934448, -0.9809643626213074, -1.3635843992233276, -4.539007932180539e-06, 4.539007932180539e-06, 0.30079346895217896, -0.767719566822052, 0.6029220819473267, -1.1713206768035889, 1.1511024236679077, 1.0465781688690186, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42782482504844666, -0.8012893795967102, 0.5987258553504944, 1.2457083463668823, -0.9668498039245605, -1.3723583221435547, -4.539007932180539e-06, 4.539007932180539e-06, 0.23670557141304016, -0.7806897163391113, 0.5987258553504944, -1.0732814073562622, 1.1022735834121704, 1.0465781688690186, -0.0036621771287173033, 0.0036621771287173033], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42782482504844666, -0.7898451089859009, 0.5987258553504944, 1.2457083463668823, -0.9584572911262512, -1.3803693056106567, -4.539007932180539e-06, 4.539007932180539e-06, 0.17490653693675995, -0.8226520419120789, 0.5960555672645569, -0.9992752075195312, 1.0763332843780518, 1.0465781688690186, -0.010270621627569199, 0.010270621627569199], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42820629477500916, -0.7833600640296936, 0.5991073250770569, 1.2453268766403198, -0.9477760195732117, -1.3857098817825317, -4.539007932180539e-06, 4.539007932180539e-06, 0.12226291000843048, -0.8691920638084412, 0.5895704627037048, -0.9374761581420898, 1.0626001358032227, 1.0465781688690186, -0.01478751003742218, 0.01478751003742218], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.7799267768859863, 0.5991073250770569, 1.2453268766403198, -0.9374761581420898, -1.3887617588043213, -4.539007932180539e-06, 4.539007932180539e-06, 0.07343403995037079, -0.9031433463096619, 0.5754558444023132, -0.8932250142097473, 1.050774335861206, 1.0465781688690186, -0.01895715668797493, 0.01895715668797493], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.7784008383750916, 0.5991073250770569, 1.2453268766403198, -0.9287022352218628, -1.3891432285308838, -4.539007932180539e-06, 4.539007932180539e-06, 0.019645990803837776, -0.9157320261001587, 0.5518043637275696, -0.8619440197944641, 1.0408560037612915, 1.0465781688690186, -0.02217341586947441, 0.02217341586947441], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.7776378989219666, 0.5983443856239319, 1.2453268766403198, -0.9237430095672607, -1.3895246982574463, -4.539007932180539e-06, 4.539007932180539e-06, -0.03681239113211632, -0.9115357995033264, 0.5189974904060364, -0.840962827205658, 1.036659836769104, 1.0465781688690186, -0.022382661700248718, 0.022382661700248718], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.7784008383750916, 0.5975814461708069, 1.2453268766403198, -0.9214541912078857, -1.3891432285308838, -4.539007932180539e-06, 4.539007932180539e-06, -0.0879301130771637, -0.8997100591659546, 0.4819943606853485, -0.8268482685089111, 1.033226490020752, 1.0465781688690186, -0.022382661700248718, 0.022382661700248718], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.7829785346984863, 0.5975814461708069, 1.2453268766403198, -0.917639434337616, -1.3887617588043213, -4.539007932180539e-06, 4.539007932180539e-06, -0.11959258466959, -0.889028787612915, 0.4507133662700653, -0.8188372850418091, 1.0305562019348145, 1.0465781688690186, -0.022382661700248718, 0.022382661700248718], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.7909895181655884, 0.5971999764442444, 1.2449454069137573, -0.9164950251579285, -1.3872358798980713, -4.539007932180539e-06, 4.539007932180539e-06, -0.1356145590543747, -0.8852140307426453, 0.42935073375701904, -0.813878059387207, 1.030174732208252, 1.0465781688690186, -0.022382661700248718, 0.022382661700248718], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.7986190319061279, 0.5956740379333496, 1.2449454069137573, -0.9149690866470337, -1.3826581239700317, -4.539007932180539e-06, 4.539007932180539e-06, -0.14476996660232544, -0.8859769701957703, 0.4175249934196472, -0.811589241027832, 1.0217822790145874, 1.0465781688690186, -0.022382661700248718, 0.022382661700248718], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.8012893795967102, 0.5933852195739746, 1.2449454069137573, -0.9145876169204712, -1.3792248964309692, -4.539007932180539e-06, 4.539007932180539e-06, -0.1501106321811676, -0.8909361362457275, 0.41142138838768005, -0.8112077713012695, 1.0099564790725708, 1.0465781688690186, -0.022382661700248718, 0.022382661700248718], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.8009079098701477, 0.5907148718833923, 1.2449454069137573, -0.9149690866470337, -1.3769359588623047, -4.539007932180539e-06, 4.539007932180539e-06, -0.152399480342865, -0.9008545279502869, 0.4079881012439728, -0.813115119934082, 0.9988937377929688, 1.0465781688690186, -0.022392624989151955, 0.022392624989151955], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.7993820309638977, 0.5876630544662476, 1.2449454069137573, -0.9145876169204712, -1.3757915496826172, -4.539007932180539e-06, 4.539007932180539e-06, -0.15468832850456238, -0.9126802682876587, 0.4064621925354004, -0.8180742859840393, 0.9843976497650146, 1.0465781688690186, -0.022392624989151955, 0.022392624989151955], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.7993820309638977, 0.5849927663803101, 1.2449454069137573, -0.9145876169204712, -1.3731212615966797, -4.539007932180539e-06, 4.539007932180539e-06, -0.15468832850456238, -0.9214541912078857, 0.4056992530822754, -0.8196002244949341, 0.969520092010498, 1.0465781688690186, -0.022452402859926224, 0.022452402859926224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.7997635006904602, 0.5827038884162903, 1.2449454069137573, -0.9149690866470337, -1.3731212615966797, -4.539007932180539e-06, 4.539007932180539e-06, -0.15545128285884857, -0.9298466444015503, 0.4053177833557129, -0.8203631639480591, 0.9584572911262512, 1.0465781688690186, -0.022522132843732834, 0.022522132843732834], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.7997635006904602, 0.5811780095100403, 1.2449454069137573, -0.9149690866470337, -1.3727397918701172, -4.539007932180539e-06, 4.539007932180539e-06, -0.15583276748657227, -0.9420538544654846, 0.4053177833557129, -0.8218890428543091, 0.9508277773857117, 1.0465781688690186, -0.023278502747416496, 0.023278502747416496], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.8012893795967102, 0.5807965397834778, 1.2449454069137573, -0.9149690866470337, -1.3696879148483276, -4.539007932180539e-06, 4.539007932180539e-06, -0.15621423721313477, -0.9538795948028564, 0.4053177833557129, -0.8180742859840393, 0.9504463076591492, 1.0465781688690186, -0.023278502747416496, 0.023278502747416496], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.804341197013855, 0.5804150700569153, 1.2449454069137573, -0.9149690866470337, -1.3693064451217651, -4.539007932180539e-06, 4.539007932180539e-06, -0.15659570693969727, -0.961509108543396, 0.4053177833557129, -0.8112077713012695, 0.951972246170044, 1.0465781688690186, -0.023278502747416496, 0.023278502747416496], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.8085374236106873, 0.5804150700569153, 1.2449454069137573, -0.9149690866470337, -1.3658732175827026, -4.539007932180539e-06, 4.539007932180539e-06, -0.15583276748657227, -0.9664682745933533, 0.4053177833557129, -0.80663001537323, 0.960746169090271, 1.046196699142456, -0.023278502747416496, 0.023278502747416496], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.812352180480957, 0.5807965397834778, 1.2449454069137573, -0.9149690866470337, -1.3654917478561401, -4.539007932180539e-06, 4.539007932180539e-06, -0.1527809500694275, -0.9691386222839355, 0.4045548141002655, -0.80357825756073, 0.9767681360244751, 1.046196699142456, -0.023278502747416496, 0.023278502747416496], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.8161669373512268, 0.5815594792366028, 1.2449454069137573, -0.9149690866470337, -1.3639658689498901, -4.539007932180539e-06, 4.539007932180539e-06, -0.1501106321811676, -0.9744792580604553, 0.4045548141002655, -0.7997635006904602, 0.9866865277290344, 1.046196699142456, -0.023278502747416496, 0.023278502747416496], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43011367321014404, -0.8192187547683716, 0.5834668278694153, 1.2449454069137573, -0.9145876169204712, -1.3624398708343506, -4.539007932180539e-06, 4.539007932180539e-06, -0.14248111844062805, -0.9798199534416199, 0.4045548141002655, -0.7948042750358582, 0.9935530424118042, 1.046196699142456, -0.023278502747416496, 0.023278502747416496], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43049514293670654, -0.8207446336746216, 0.5857557058334351, 1.2445639371871948, -0.9145876169204712, -1.3624398708343506, -4.539007932180539e-06, 4.539007932180539e-06, -0.12226291000843048, -0.9874494671821594, 0.404936283826828, -0.7913710474967957, 0.9935530424118042, 1.046196699142456, -0.023278502747416496, 0.023278502747416496], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43125811219215393, -0.8222705721855164, 0.5895704627037048, 1.2449454069137573, -0.9145876169204712, -1.362058401107788, -4.539007932180539e-06, 4.539007932180539e-06, -0.09365224838256836, -1.0023269653320312, 0.4064621925354004, -0.7803082466125488, 0.9889753460884094, 1.046196699142456, -0.02324867621064186, 0.02324867621064186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43202105164527893, -0.8234149813652039, 0.5930037498474121, 1.2449454069137573, -0.9145876169204712, -1.362058401107788, -4.539007932180539e-06, 4.539007932180539e-06, -0.0715266615152359, -1.0202564001083374, 0.4064621925354004, -0.7616159319877625, 0.9737163186073303, 1.0465781688690186, -0.02282087691128254, 0.02282087691128254], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4335469603538513, -0.8241779208183289, 0.5949110984802246, 1.2449454069137573, -0.9142061471939087, -1.3624398708343506, -4.539007932180539e-06, 4.539007932180539e-06, -0.0558861680328846, -1.035896897315979, 0.4064621925354004, -0.7467383742332458, 0.9554055333137512, 1.046196699142456, -0.02155558206140995, 0.02155558206140995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.439269095659256, -0.8264667987823486, 0.5979629158973694, 1.2445639371871948, -0.9134432077407837, -1.3624398708343506, -4.539007932180539e-06, 4.539007932180539e-06, -0.04406042397022247, -1.0473411083221436, 0.4068436622619629, -0.7398717999458313, 0.9401465058326721, 1.046196699142456, -0.01844659075140953, 0.01844659075140953], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46101319789886475, -0.8321889042854309, 0.6059738993644714, 1.2445639371871948, -0.9073395729064941, -1.3624398708343506, -4.539007932180539e-06, 4.539007932180539e-06, -0.03604944050312042, -1.0553520917892456, 0.4064621925354004, -0.7387273907661438, 0.9275577664375305, 1.046196699142456, -0.013871349394321442, 0.013871349394321442], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5056458115577698, -0.8470664620399475, 0.6231403350830078, 1.2449454069137573, -0.88979172706604, -1.3666361570358276, -4.539007932180539e-06, 4.539007932180539e-06, -0.03185320645570755, -1.0599298477172852, 0.4060807228088379, -0.7406347990036011, 0.9206912517547607, 1.046196699142456, -0.008813274092972279, 0.008813274092972279], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.576218843460083, -0.881780743598938, 0.6570916175842285, 1.2441824674606323, -0.8710994124412537, -1.3731212615966797, -4.539007932180539e-06, 4.539007932180539e-06, -0.029564354568719864, -1.0629816055297852, 0.4053177833557129, -0.7421606779098511, 0.9180209040641785, 1.046196699142456, -0.004716475028544664, 0.004716475028544664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6651026010513306, -0.9443427324295044, 0.7097352743148804, 1.2441824674606323, -0.8581292629241943, -1.3788433074951172, -4.539007932180539e-06, 4.539007932180539e-06, -0.028038453310728073, -1.0645074844360352, 0.4045548141002655, -0.7444495558738708, 0.9180209040641785, 1.046196699142456, -0.0014137416146695614, 0.0014137416146695614], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7455939650535583, -1.0152971744537354, 0.7631418108940125, 1.2441824674606323, -0.8493552803993225, -1.3803693056106567, -4.539007932180539e-06, 4.539007932180539e-06, -0.028038453310728073, -1.0645074844360352, 0.4045548141002655, -0.7463569045066833, 0.9180209040641785, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8119707107543945, -1.0969328880310059, 0.8154039978981018, 1.2426565885543823, -0.8367666006088257, -1.3693064451217651, -4.539007932180539e-06, 4.539007932180539e-06, -0.027656977996230125, -1.0645074844360352, 0.4045548141002655, -0.7478827834129333, 0.917639434337616, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8554589152336121, -1.1697947978973389, 0.8577477931976318, 1.2445639371871948, -0.8279926776885986, -1.3654917478561401, -4.539007932180539e-06, 4.539007932180539e-06, -0.027656977996230125, -1.0641260147094727, 0.4056992530822754, -0.7486457824707031, 0.9164950251579285, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.890554666519165, -1.2239643335342407, 0.8878843188285828, 1.2445639371871948, -0.8176928162574768, -1.3616769313812256, -4.539007932180539e-06, 4.539007932180539e-06, -0.027656977996230125, -1.0637445449829102, 0.4056992530822754, -0.7509346008300781, 0.9145876169204712, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -1.261348843574524, 0.9069581031799316, 1.2445639371871948, -0.8016708493232727, -1.3601510524749756, -4.539007932180539e-06, 4.539007932180539e-06, -0.027656977996230125, -1.0637445449829102, 0.4064621925354004, -0.7516975402832031, 0.9126802682876587, 1.045433759689331, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9462500810623169, -1.2884336709976196, 0.917639434337616, 1.2445639371871948, -0.7776378989219666, -1.358243703842163, -4.539007932180539e-06, 4.539007932180539e-06, -0.027656977996230125, -1.0637445449829102, 0.40951400995254517, -0.7524605393409729, 0.9103913903236389, 1.0435264110565186, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.959220290184021, -1.3139925003051758, 0.9237430095672607, 1.2445639371871948, -0.7528420090675354, -1.3586251735687256, -4.539007932180539e-06, 4.539007932180539e-06, -0.026512550190091133, -1.0637445449829102, 0.41371023654937744, -0.7555122971534729, 0.9073395729064941, 1.0435264110565186, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9664682745933533, -1.3368810415267944, 0.926413357257843, 1.2445639371871948, -0.7265201807022095, -1.362821340560913, -4.539007932180539e-06, 4.539007932180539e-06, -0.026131074875593185, -1.0641260147094727, 0.4182879328727722, -0.7555122971534729, 0.9046692848205566, 1.0435264110565186, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9710460305213928, -1.358243703842163, 0.9279392957687378, 1.2445639371871948, -0.699816882610321, -1.3708323240280151, -4.539007932180539e-06, 4.539007932180539e-06, -0.026131074875593185, -1.0652704238891602, 0.4217212200164795, -0.7555122971534729, 0.9004730582237244, 1.0435264110565186, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9752422571182251, -1.3792248964309692, 0.9290837049484253, 1.2445639371871948, -0.6742580533027649, -1.3792248964309692, -4.539007932180539e-06, 4.539007932180539e-06, -0.026131074875593185, -1.0645074844360352, 0.4243915379047394, -0.7555122971534729, 0.8985656499862671, 1.0435264110565186, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9763866662979126, -1.4002059698104858, 0.9328984618186951, 1.2445639371871948, -0.6532768607139587, -1.3853284120559692, -4.539007932180539e-06, 4.539007932180539e-06, -0.026131074875593185, -1.0584038496017456, 0.42553597688674927, -0.7570382356643677, 0.8939879536628723, 1.0435264110565186, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9779125452041626, -1.420424222946167, 0.9401465058326721, 1.2445639371871948, -0.6383993029594421, -1.3887617588043213, -4.539007932180539e-06, 4.539007932180539e-06, -0.026512550190091133, -1.048485517501831, 0.42858776450157166, -0.7639048099517822, 0.8916990756988525, 1.043907880783081, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9782940149307251, -1.437972068786621, 0.951209306716919, 1.2441824674606323, -0.6254291534423828, -1.3891432285308838, -4.539007932180539e-06, 4.539007932180539e-06, -0.026512550190091133, -1.039711594581604, 0.4354543387889862, -0.7593270540237427, 0.8928435444831848, 1.043907880783081, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9782940149307251, -1.4547569751739502, 0.967231273651123, 1.2445639371871948, -0.6166552305221558, -1.3891432285308838, -4.539007932180539e-06, 4.539007932180539e-06, -0.02689402550458908, -1.0320820808410645, 0.44575417041778564, -0.7513160705566406, 0.9042877554893494, 1.044670820236206, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9782940149307251, -1.4726864099502563, 0.9866865277290344, 1.2445639371871948, -0.6113145351409912, -1.3887617588043213, -4.539007932180539e-06, 4.539007932180539e-06, -0.02689402550458908, -1.022926688194275, 0.45757991075515747, -0.7440680265426636, 0.9180209040641785, 1.0465781688690186, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9786755442619324, -1.489852786064148, 1.0042344331741333, 1.2445639371871948, -0.6074998378753662, -1.3883802890777588, -4.539007932180539e-06, 4.539007932180539e-06, -0.02689402550458908, -1.0141527652740479, 0.4674982726573944, -0.7398717999458313, 0.9283207654953003, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9786755442619324, -1.506637692451477, 1.0172045230865479, 1.2445639371871948, -0.6074998378753662, -1.3876173496246338, -4.539007932180539e-06, 4.539007932180539e-06, -0.02689402550458908, -1.0091935396194458, 0.47627222537994385, -0.7368200421333313, 0.9435797929763794, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9782940149307251, -1.5215152502059937, 1.0271228551864624, 1.2441824674606323, -0.6044480204582214, -1.3849469423294067, -4.539007932180539e-06, 4.539007932180539e-06, -0.02689402550458908, -1.0049973726272583, 0.481612890958786, -0.735675573348999, 0.9554055333137512, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9782940149307251, -1.5352483987808228, 1.035896897315979, 1.2407492399215698, -0.5998703241348267, -1.3845654726028442, -4.539007932180539e-06, 4.539007932180539e-06, -0.02689402550458908, -1.0004196166992188, 0.4846646785736084, -0.7337682247161865, 0.967231273651123, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9782940149307251, -1.5459296703338623, 1.043907880783081, 1.2384604215621948, -0.5968185067176819, -1.3841840028762817, -4.539007932180539e-06, 4.539007932180539e-06, -0.02689402550458908, -0.9924086332321167, 0.4865720570087433, -0.7303349375724792, 0.9786755442619324, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9786755442619324, -1.5543221235275269, 1.0523003339767456, 1.2403677701950073, -0.5975814461708069, -1.3838025331497192, -4.539007932180539e-06, 4.539007932180539e-06, -0.02689402550458908, -0.9840161800384521, 0.4888609051704407, -0.728427529335022, 0.994316041469574, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9786755442619324, -1.560044288635254, 1.0584038496017456, 1.2411307096481323, -0.6002517938613892, -1.3811322450637817, -4.539007932180539e-06, 4.539007932180539e-06, -0.02689402550458908, -0.9763866662979126, 0.49114975333213806, -0.7227054238319397, 1.0099564790725708, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9786755442619324, -1.563096046447754, 1.0614557266235352, 1.2418936491012573, -0.6044480204582214, -1.3815137147903442, -4.539007932180539e-06, 4.539007932180539e-06, -0.02689402550458908, -0.9657053351402283, 0.49420157074928284, -0.7089722752571106, 1.028648853302002, 1.0450522899627686, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9782940149307251, -1.561570167541504, 1.0648889541625977, 1.2426565885543823, -0.612077534198761, -1.3815137147903442, -4.539007932180539e-06, 4.539007932180539e-06, -0.026512550190091133, -0.9500648379325867, 0.5014495849609375, -0.6815060377120972, 1.0481040477752686, 1.0435264110565186, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9786755442619324, -1.5455482006072998, 1.0622186660766602, 1.2491416931152344, -0.6349660754203796, -1.3845654726028442, -4.539007932180539e-06, 4.539007932180539e-06, -0.02040894143283367, -0.9344243407249451, 0.5140383243560791, -0.6563286781311035, 1.0667964220046997, 1.0435264110565186, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9786755442619324, -1.512359857559204, 1.0591669082641602, 1.255245327949524, -0.6563286781311035, -1.3853284120559692, -4.539007932180539e-06, 4.539007932180539e-06, -0.0009536888683214784, -0.9245060086250305, 0.5323491096496582, -0.6376363635063171, 1.0812923908233643, 1.0435264110565186, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9786755442619324, -1.4681086540222168, 1.054970622062683, 1.2514305114746094, -0.6525139212608337, -1.3853284120559692, -4.539007932180539e-06, 4.539007932180539e-06, 0.029182879254221916, -0.9225986003875732, 0.5506599545478821, -0.6235218048095703, 1.0912108421325684, 1.0435264110565186, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9786755442619324, -1.421187162399292, 1.046959638595581, 1.2479972839355469, -0.6528953909873962, -1.3849469423294067, -4.539007932180539e-06, 4.539007932180539e-06, 0.058175019919872284, -0.9260318875312805, 0.5666819214820862, -0.6044480204582214, 1.0931181907653809, 1.043907880783081, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9786755442619324, -1.3796063661575317, 1.0305562019348145, 1.2483787536621094, -0.6609063744544983, -1.3807507753372192, -4.539007932180539e-06, 4.539007932180539e-06, 0.08106355369091034, -0.9309910535812378, 0.5827038884162903, -0.5788891315460205, 1.0954070091247559, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9737163186073303, -1.3315403461456299, 1.0000381469726562, 1.2453268766403198, -0.6616693139076233, -1.3761730194091797, -4.539007932180539e-06, 4.539007932180539e-06, 0.10471503436565399, -0.9370946884155273, 0.6033035516738892, -0.5563820600509644, 1.0954070091247559, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9493018984794617, -1.273556113243103, 0.951972246170044, 1.2453268766403198, -0.6639581918716431, -1.3742656707763672, -4.539007932180539e-06, 4.539007932180539e-06, 0.13790340721607208, -0.9485389590263367, 0.6280995011329651, -0.5373083353042603, 1.0954070091247559, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9035248160362244, -1.196879506111145, 0.8859769701957703, 1.2457083463668823, -0.6708247661590576, -1.3784618377685547, -4.539007932180539e-06, 4.539007932180539e-06, 0.17490653693675995, -0.9649423956871033, 0.6517509818077087, -0.5151827335357666, 1.0954070091247559, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.838674008846283, -1.0984588861465454, 0.8104447722434998, 1.2464714050292969, -0.6845578551292419, -1.3933393955230713, -4.539007932180539e-06, 4.539007932180539e-06, 0.21839475631713867, -0.9843976497650146, 0.6750209927558899, -0.4961089491844177, 1.0912108421325684, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.9897382855415344, 0.7372015118598938, 1.2476158142089844, -0.7024872303009033, -1.404402256011963, -4.539007932180539e-06, 4.539007932180539e-06, 0.2618829607963562, -1.0084306001663208, 0.698291003704071, -0.4819943606853485, 1.0793850421905518, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -0.8852140307426453, 0.6712062358856201, 1.2472343444824219, -0.7238498330116272, -1.4192798137664795, -4.539007932180539e-06, 4.539007932180539e-06, 0.30422675609588623, -1.038185715675354, 0.7219424843788147, -0.4667353332042694, 1.058022379875183, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6383993029594421, -0.8016708493232727, 0.621614396572113, 1.2476158142089844, -0.7497901916503906, -1.4303425550460815, -4.539007932180539e-06, 4.539007932180539e-06, 0.34580758213996887, -1.0713740587234497, 0.7475013136863708, -0.4518577754497528, 1.037422776222229, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6036850810050964, -0.7467383742332458, 0.5876630544662476, 1.2460898160934448, -0.7738231420516968, -1.437972068786621, -4.539007932180539e-06, 4.539007932180539e-06, 0.38319218158721924, -1.106088399887085, 0.7719157934188843, -0.4350728690624237, 1.0107194185256958, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5834668278694153, -0.7177462577819824, 0.5655375123023987, 1.2460898160934448, -0.7921339869499207, -1.4414052963256836, -4.539007932180539e-06, 4.539007932180539e-06, 0.4182879328727722, -1.1419470310211182, 0.7948042750358582, -0.421339750289917, 0.9813458323478699, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5739299654960632, -0.7040131092071533, 0.5491340756416321, 1.2460898160934448, -0.8089188933372498, -1.4444571733474731, -4.539007932180539e-06, 4.539007932180539e-06, 0.4526207447052002, -1.176279902458191, 0.8146410584449768, -0.41065841913223267, 0.9576943516731262, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5682078003883362, -0.6971465349197388, 0.5357823967933655, 1.2464714050292969, -0.8192187547683716, -1.4448386430740356, -4.539007932180539e-06, 4.539007932180539e-06, 0.4835202693939209, -1.2087053060531616, 0.8310444951057434, -0.4030289053916931, 0.9275577664375305, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5651560425758362, -0.6937133073806763, 0.5254825949668884, 1.2460898160934448, -0.8268482685089111, -1.4452201128005981, -4.539007932180539e-06, 4.539007932180539e-06, 0.509079098701477, -1.2399863004684448, 0.8440146446228027, -0.3995956480503082, 0.9023804068565369, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5632486343383789, -0.6929503083229065, 0.5159456729888916, 1.2460898160934448, -0.8306630253791809, -1.4456015825271606, -4.539007932180539e-06, 4.539007932180539e-06, 0.5315861701965332, -1.2659265995025635, 0.8524070978164673, -0.39539939165115356, 0.8798733353614807, 1.0458152294158936, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5632486343383789, -0.6929503083229065, 0.507553219795227, 1.2464714050292969, -0.8340963125228882, -1.4456015825271606, -4.539007932180539e-06, 4.539007932180539e-06, 0.5533303022384644, -1.2861448526382446, 0.8581292629241943, -0.3919661343097687, 0.8520256280899048, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.6963835954666138, 0.499542236328125, 1.2460898160934448, -0.8340963125228882, -1.4459830522537231, -4.539007932180539e-06, 4.539007932180539e-06, 0.5746929049491882, -1.3040741682052612, 0.8649957776069641, -0.3873884081840515, 0.8207446336746216, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7009612917900085, 0.49458304047584534, 1.2464714050292969, -0.8360036611557007, -1.4482718706130981, -4.539007932180539e-06, 4.539007932180539e-06, 0.5933852195739746, -1.3220034837722778, 0.8703364729881287, -0.3850995600223541, 0.7997635006904602, 1.046196699142456, -0.0010820472380146384, 0.0010820472380146384], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7047760486602783, 0.49114975333213806, 1.2464714050292969, -0.8371480703353882, -1.4482718706130981, -4.539007932180539e-06, 4.539007932180539e-06, 0.6109330654144287, -1.3376439809799194, 0.8745326995849609, -0.3847180902957916, 0.7791637778282166, 1.046196699142456, -0.0013436763547360897, 0.0013436763547360897], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7085908055305481, 0.4884794354438782, 1.2464714050292969, -0.8375295400619507, -1.4482718706130981, -4.539007932180539e-06, 4.539007932180539e-06, 0.6258106231689453, -1.3490883111953735, 0.8764400482177734, -0.3839551508426666, 0.7578011751174927, 1.046196699142456, -0.007872534915804863, 0.007872534915804863], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7135500311851501, 0.4869535267353058, 1.2468528747558594, -0.8375295400619507, -1.4478904008865356, -4.539007932180539e-06, 4.539007932180539e-06, 0.6380178332328796, -1.3586251735687256, 0.8775845170021057, -0.3843366205692291, 0.7402533292770386, 1.046196699142456, -0.016768421977758408, 0.016768421977758408], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7181277275085449, 0.4854276478290558, 1.2460898160934448, -0.8375295400619507, -1.4478904008865356, -4.539007932180539e-06, 4.539007932180539e-06, 0.6437399983406067, -1.3609139919281006, 0.8779659867286682, -0.4064621925354004, 0.7337682247161865, 1.0458152294158936, -0.020252350717782974, 0.020252350717782974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7207980751991272, 0.4846646785736084, 1.2464714050292969, -0.837911069393158, -1.4478904008865356, -4.539007932180539e-06, 4.539007932180539e-06, 0.6422140598297119, -1.349469780921936, 0.8779659867286682, -0.4541466534137726, 0.7372015118598938, 1.0458152294158936, -0.022422512993216515, 0.022422512993216515], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7211795449256897, 0.4842832088470459, 1.2464714050292969, -0.8421072959899902, -1.4475089311599731, -4.539007932180539e-06, 4.539007932180539e-06, 0.6204699873924255, -1.3227664232254028, 0.8707179427146912, -0.501068115234375, 0.7719157934188843, 1.0458152294158936, -0.022711358964443207, 0.022711358964443207], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7207980751991272, 0.4842832088470459, 1.2460898160934448, -0.84592205286026, -1.4471274614334106, -4.539007932180539e-06, 4.539007932180539e-06, 0.5884260535240173, -1.283092975616455, 0.8432517051696777, -0.5289158225059509, 0.8005264401435852, 1.0458152294158936, -0.022711358964443207, 0.022711358964443207], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7204165458679199, 0.4842832088470459, 1.2460898160934448, -0.8493552803993225, -1.4467459917068481, -4.539007932180539e-06, 4.539007932180539e-06, 0.5544747114181519, -1.2331197261810303, 0.7913710474967957, -0.5468451976776123, 0.8310444951057434, 1.0458152294158936, -0.02277109958231449, 0.02277109958231449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7185091972351074, 0.4842832088470459, 1.2460898160934448, -0.8524070978164673, -1.4459830522537231, -4.539007932180539e-06, 4.539007932180539e-06, 0.5308232307434082, -1.1907758712768555, 0.734912633895874, -0.5563820600509644, 0.8527885675430298, 1.046196699142456, -0.02277109958231449, 0.02277109958231449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7162203192710876, 0.4842832088470459, 1.2464714050292969, -0.8531700372695923, -1.4452201128005981, -4.539007932180539e-06, 4.539007932180539e-06, 0.5167086124420166, -1.1667429208755493, 0.6872282028198242, -0.5586709380149841, 0.8642328381538391, 1.0465781688690186, -0.02277109958231449, 0.02277109958231449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7135500311851501, 0.4842832088470459, 1.2464714050292969, -0.8566033244132996, -1.4452201128005981, -4.539007932180539e-06, 4.539007932180539e-06, 0.5109865069389343, -1.1621652841567993, 0.6570916175842285, -0.5571450591087341, 0.8703364729881287, 1.0465781688690186, -0.02277109958231449, 0.02277109958231449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7112611532211304, 0.483138769865036, 1.2460898160934448, -0.8585107326507568, -1.4452201128005981, -4.539007932180539e-06, 4.539007932180539e-06, 0.5079346895217896, -1.1713206768035889, 0.6410696506500244, -0.5460822582244873, 0.8741512298583984, 1.0465781688690186, -0.022761143743991852, 0.022761143743991852], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7101167440414429, 0.4827573001384735, 1.2460898160934448, -0.8615625500679016, -1.4452201128005981, -4.539007932180539e-06, 4.539007932180539e-06, 0.5071717500686646, -1.186579704284668, 0.6322957277297974, -0.5323491096496582, 0.8665217161178589, 1.046959638595581, -0.022761143743991852, 0.022761143743991852], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7101167440414429, 0.482375830411911, 1.2460898160934448, -0.8623254895210266, -1.4452201128005981, -4.539007932180539e-06, 4.539007932180539e-06, 0.507553219795227, -1.2037460803985596, 0.6280995011329651, -0.5159456729888916, 0.8539330363273621, 1.0473411083221436, -0.022761143743991852, 0.022761143743991852], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7120240926742554, 0.482375830411911, 1.2460898160934448, -0.8630884289741516, -1.4448386430740356, -4.539007932180539e-06, 4.539007932180539e-06, 0.5113679766654968, -1.2186236381530762, 0.6258106231689453, -0.499542236328125, 0.8463035225868225, 1.0473411083221436, -0.022761143743991852, 0.022761143743991852], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7150759100914001, 0.482375830411911, 1.2460898160934448, -0.8634698987007141, -1.4421683549880981, -4.539007932180539e-06, 4.539007932180539e-06, 0.5205233693122864, -1.2281605005264282, 0.6246662139892578, -0.4850461483001709, 0.840199887752533, 1.047722578048706, -0.022761143743991852, 0.022761143743991852], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7173647880554199, 0.482375830411911, 1.2460898160934448, -0.8630884289741516, -1.439497947692871, -4.539007932180539e-06, 4.539007932180539e-06, 0.5315861701965332, -1.2335011959075928, 0.6242847442626953, -0.4736018776893616, 0.8356221914291382, 1.047722578048706, -0.022761143743991852, 0.022761143743991852], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7188906669616699, 0.482375830411911, 1.2460898160934448, -0.8630884289741516, -1.4368276596069336, -4.539007932180539e-06, 4.539007932180539e-06, 0.5415045619010925, -1.2392233610153198, 0.6242847442626953, -0.4674982726573944, 0.8329518437385559, 1.0473411083221436, -0.022761143743991852, 0.022761143743991852], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7204165458679199, 0.482375830411911, 1.2464714050292969, -0.8630884289741516, -1.4360647201538086, -4.539007932180539e-06, 4.539007932180539e-06, 0.5453193187713623, -1.2476158142089844, 0.6242847442626953, -0.46215763688087463, 0.8318074345588684, 1.0473411083221436, -0.022751187905669212, 0.022751187905669212], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7223239541053772, 0.482375830411911, 1.2464714050292969, -0.8634698987007141, -1.4333943128585815, -4.539007932180539e-06, 4.539007932180539e-06, 0.5483710765838623, -1.2541009187698364, 0.6242847442626953, -0.4514763057231903, 0.8241779208183289, 1.047722578048706, -0.02186448872089386, 0.02186448872089386], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7238498330116272, 0.482375830411911, 1.2464714050292969, -0.8634698987007141, -1.4333943128585815, -4.539007932180539e-06, 4.539007932180539e-06, 0.5518043637275696, -1.2579156160354614, 0.6242847442626953, -0.44232088327407837, 0.8176928162574768, 1.047722578048706, -0.01981612853705883, 0.01981612853705883], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7242313027381897, 0.482375830411911, 1.2464714050292969, -0.8630884289741516, -1.4333943128585815, -4.539007932180539e-06, 4.539007932180539e-06, 0.5540932416915894, -1.2594414949417114, 0.6242847442626953, -0.4354543387889862, 0.8134965896606445, 1.047722578048706, -0.016634246334433556, 0.016634246334433556], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.724612832069397, 0.482375830411911, 1.2464714050292969, -0.8630884289741516, -1.4333943128585815, -4.539007932180539e-06, 4.539007932180539e-06, 0.5605783462524414, -1.260585904121399, 0.6242847442626953, -0.42820629477500916, 0.8100633025169373, 1.047722578048706, -0.01608138531446457, 0.01608138531446457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.724612832069397, 0.482375830411911, 1.2464714050292969, -0.8634698987007141, -1.4333943128585815, -4.539007932180539e-06, 4.539007932180539e-06, 0.572022557258606, -1.2609673738479614, 0.6242847442626953, -0.4228656589984894, 0.8096818327903748, 1.047722578048706, -0.01325085200369358, 0.01325085200369358], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.724612832069397, 0.482375830411911, 1.2460898160934448, -0.8630884289741516, -1.4333943128585815, -4.539007932180539e-06, 4.539007932180539e-06, 0.5830853581428528, -1.261348843574524, 0.6246662139892578, -0.422102689743042, 0.8096818327903748, 1.047722578048706, -0.006785775534808636, 0.006785775534808636], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.724612832069397, 0.482375830411911, 1.2464714050292969, -0.8634698987007141, -1.4333943128585815, -4.539007932180539e-06, 4.539007932180539e-06, 0.5922408103942871, -1.261348843574524, 0.6265735626220703, -0.4209582805633545, 0.805867075920105, 1.047722578048706, -0.0010583930416032672, 0.0010583930416032672], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.7227054238319397, 0.482375830411911, 1.2464714050292969, -0.8634698987007141, -1.4333943128585815, -4.539007932180539e-06, 4.539007932180539e-06, 0.6052109599113464, -1.2609673738479614, 0.6349660754203796, -0.4190509021282196, 0.8009079098701477, 1.047722578048706, -0.000788527715485543, 0.000788527715485543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5563820600509644, -0.7127870321273804, 0.482375830411911, 1.2457083463668823, -0.8638513684272766, -1.427672266960144, -4.539007932180539e-06, 4.539007932180539e-06, 0.6288624405860901, -1.259822964668274, 0.657473087310791, -0.4190509021282196, 0.7990005612373352, 1.047722578048706, -0.000788527715485543, 0.000788527715485543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5266270041465759, -0.6929503083229065, 0.4819943606853485, 1.2464714050292969, -0.8703364729881287, -1.421187162399292, -4.539007932180539e-06, 4.539007932180539e-06, 0.6685358881950378, -1.2636377811431885, 0.700579822063446, -0.4175249934196472, 0.7990005612373352, 1.047722578048706, -0.000788527715485543, 0.000788527715485543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4697871506214142, -0.6658655405044556, 0.47932401299476624, 1.2464714050292969, -0.8821622133255005, -1.415464997291565, -4.539007932180539e-06, 4.539007932180539e-06, 0.7146944403648376, -1.275844931602478, 0.7505531311035156, -0.41256579756736755, 0.7986190319061279, 1.047722578048706, -0.000788527715485543, 0.000788527715485543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39463645219802856, -0.6372548937797546, 0.4736018776893616, 1.2472343444824219, -0.8989471197128296, -1.4093613624572754, -4.539007932180539e-06, 4.539007932180539e-06, 0.7597085237503052, -1.2930114269256592, 0.7982375621795654, -0.4072251319885254, 0.7948042750358582, 1.047722578048706, -0.000788527715485543, 0.000788527715485543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3248264193534851, -0.615129292011261, 0.4674982726573944, 1.2476158142089844, -0.9206912517547607, -1.3998245000839233, -4.539007932180539e-06, 4.539007932180539e-06, 0.804341197013855, -1.3109407424926758, 0.8455405235290527, -0.403410404920578, 0.7883192300796509, 1.0473411083221436, -0.000788527715485543, 0.000788527715485543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2817196846008301, -0.6036850810050964, 0.46063172817230225, 1.2476158142089844, -0.9431982636451721, -1.3914320468902588, -4.539007932180539e-06, 4.539007932180539e-06, 0.8405813574790955, -1.3261997699737549, 0.882543683052063, -0.4026474356651306, 0.7814526557922363, 1.0473411083221436, -0.000788527715485543, 0.000788527715485543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2584496736526489, -0.6013962030410767, 0.4537651538848877, 1.2468528747558594, -0.954261064529419, -1.3879988193511963, -4.539007932180539e-06, 4.539007932180539e-06, 0.8707179427146912, -1.341458797454834, 0.9081025123596191, -0.3995956480503082, 0.7654306888580322, 1.0473411083221436, -0.000788527715485543, 0.000788527715485543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2466239482164383, -0.6063553690910339, 0.4488059878349304, 1.2468528747558594, -0.962272047996521, -1.3864728212356567, -4.539007932180539e-06, 4.539007932180539e-06, 0.8947508931159973, -1.359006643295288, 0.9222171306610107, -0.39578089118003845, 0.7562752962112427, 1.0473411083221436, -0.000788527715485543, 0.000788527715485543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24052032828330994, -0.6139848828315735, 0.44613564014434814, 1.2464714050292969, -0.9649423956871033, -1.3841840028762817, -4.539007932180539e-06, 4.539007932180539e-06, 0.9134432077407837, -1.3773174285888672, 0.9298466444015503, -0.3892957866191864, 0.7433050870895386, 1.0473411083221436, -0.0008112220675684512, 0.0008112220675684512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23670557141304016, -0.6227588057518005, 0.44537270069122314, 1.2460898160934448, -0.9668498039245605, -1.3838025331497192, -4.539007932180539e-06, 4.539007932180539e-06, 0.9275577664375305, -1.3967727422714233, 0.9336614012718201, -0.3843366205692291, 0.7387273907661438, 1.0473411083221436, -0.0034765347372740507, 0.0034765347372740507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23479819297790527, -0.6315327882766724, 0.44460976123809814, 1.2464714050292969, -0.967231273651123, -1.3834210634231567, -4.539007932180539e-06, 4.539007932180539e-06, 0.9409094452857971, -1.41470205783844, 0.9355688095092773, -0.3763256371021271, 0.7379644513130188, 1.0473411083221436, -0.011125098913908005, 0.011125098913908005], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23479819297790527, -0.6376363635063171, 0.44422826170921326, 1.2460898160934448, -0.9660868048667908, -1.3807507753372192, -4.539007932180539e-06, 4.539007932180539e-06, 0.9508277773857117, -1.4280537366867065, 0.9367132186889648, -0.368314653635025, 0.7345311641693115, 1.0473411083221436, -0.01739479787647724, 0.01739479787647724], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6403067111968994, 0.44422826170921326, 1.2464714050292969, -0.9645609259605408, -1.3807507753372192, -4.539007932180539e-06, 4.539007932180539e-06, 0.955024003982544, -1.432249903678894, 0.9367132186889648, -0.36564430594444275, 0.7310978770256042, 1.0473411083221436, -0.020212654024362564, 0.020212654024362564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6414511203765869, 0.44537270069122314, 1.2460898160934448, -0.9637979865074158, -1.3807507753372192, -4.539007932180539e-06, 4.539007932180539e-06, 0.9454871416091919, -1.420424222946167, 0.9328984618186951, -0.3774700462818146, 0.7318608164787292, 1.046959638595581, -0.020351625978946686, 0.020351625978946686], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6368734240531921, 0.44766154885292053, 1.2464714050292969, -0.960746169090271, -1.3807507753372192, -4.539007932180539e-06, 4.539007932180539e-06, 0.9061951637268066, -1.3872358798980713, 0.9073395729064941, -0.3881513774394989, 0.7318608164787292, 1.046959638595581, -0.020351625978946686, 0.020351625978946686], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6280995011329651, 0.4518577754497528, 1.2464714050292969, -0.960746169090271, -1.3807507753372192, -4.539007932180539e-06, 4.539007932180539e-06, 0.8344777822494507, -1.3338292837142944, 0.8516441583633423, -0.3881513774394989, 0.726138710975647, 1.046959638595581, -0.020351625978946686, 0.020351625978946686], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.620851457118988, 0.4549095928668976, 1.2460898160934448, -0.9569314122200012, -1.3788433074951172, -4.539007932180539e-06, 4.539007932180539e-06, 0.7417792081832886, -1.275081992149353, 0.7818341255187988, -0.3839551508426666, 0.7150759100914001, 1.046959638595581, -0.020351625978946686, 0.020351625978946686], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.619325578212738, 0.45681697130203247, 1.2460898160934448, -0.9504463076591492, -1.3723583221435547, -4.539007932180539e-06, 4.539007932180539e-06, 0.6532768607139587, -1.2277790307998657, 0.7204165458679199, -0.37975889444351196, 0.7082093358039856, 1.0473411083221436, -0.020769039168953896, 0.020769039168953896], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6239032745361328, 0.45796138048171997, 1.2460898160934448, -0.9493018984794617, -1.3685435056686401, -4.539007932180539e-06, 4.539007932180539e-06, 0.5884260535240173, -1.1999313831329346, 0.6795986890792847, -0.3770885765552521, 0.7089722752571106, 1.0473411083221436, -0.02284078672528267, 0.02284078672528267], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6292439103126526, 0.45834288001060486, 1.2460898160934448, -0.9485389590263367, -1.3651102781295776, -4.539007932180539e-06, 4.539007932180539e-06, 0.5300602912902832, -1.187342643737793, 0.656710147857666, -0.3774700462818146, 0.7120240926742554, 1.0473411083221436, -0.025422019883990288, 0.025422019883990288], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6338216066360474, 0.45834288001060486, 1.2460898160934448, -0.9489204287528992, -1.360532522201538, -4.539007932180539e-06, 4.539007932180539e-06, 0.4846646785736084, -1.184290885925293, 0.6452658772468567, -0.3778515160083771, 0.700579822063446, 1.047722578048706, -0.028115293011069298, 0.028115293011069298], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6372548937797546, 0.45834288001060486, 1.2457083463668823, -0.9493018984794617, -1.3570992946624756, -4.539007932180539e-06, 4.539007932180539e-06, 0.46253910660743713, -1.1869611740112305, 0.6391623020172119, -0.37975889444351196, 0.7013428211212158, 1.0473411083221436, -0.029074590653181076, 0.029074590653181076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6433585286140442, 0.45910581946372986, 1.2460898160934448, -0.9500648379325867, -1.3498512506484985, -4.539007932180539e-06, 4.539007932180539e-06, 0.4484245181083679, -1.19764244556427, 0.6364919543266296, -0.37975889444351196, 0.700579822063446, 1.047722578048706, -0.02966001071035862, 0.02966001071035862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6498435735702515, 0.45910581946372986, 1.2457083463668823, -0.9500648379325867, -1.347943902015686, -4.539007932180539e-06, 4.539007932180539e-06, 0.440032035112381, -1.2109941244125366, 0.6364919543266296, -0.37899595499038696, 0.6898985505104065, 1.047722578048706, -0.02966001071035862, 0.02966001071035862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.655184268951416, 0.45948728919029236, 1.2460898160934448, -0.9500648379325867, -1.342984676361084, -4.539007932180539e-06, 4.539007932180539e-06, 0.438506156206131, -1.2232013940811157, 0.6403067111968994, -0.3774700462818146, 0.6898985505104065, 1.047722578048706, -0.02966001071035862, 0.02966001071035862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6586175560951233, 0.45986875891685486, 1.2460898160934448, -0.9489204287528992, -1.341458797454834, -4.539007932180539e-06, 4.539007932180539e-06, 0.4354543387889862, -1.2384604215621948, 0.6536583304405212, -0.3774700462818146, 0.6841763854026794, 1.047722578048706, -0.02966001071035862, 0.02966001071035862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6605249047279358, 0.45986875891685486, 1.2460898160934448, -0.9462500810623169, -1.338788390159607, -4.539007932180539e-06, 4.539007932180539e-06, 0.4354543387889862, -1.257534146308899, 0.6731135845184326, -0.3774700462818146, 0.6754024624824524, 1.047722578048706, -0.02966001071035862, 0.02966001071035862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6620507836341858, 0.45986875891685486, 1.2457083463668823, -0.9454871416091919, -1.338025450706482, -4.539007932180539e-06, 4.539007932180539e-06, 0.440032035112381, -1.276607871055603, 0.6952391862869263, -0.37937742471694946, 0.6765468716621399, 1.0473411083221436, -0.02966001071035862, 0.02966001071035862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6631952524185181, 0.45986875891685486, 1.2460898160934448, -0.9454871416091919, -1.3353551626205444, -4.539007932180539e-06, 4.539007932180539e-06, 0.44079500436782837, -1.2960631847381592, 0.7177462577819824, -0.3885328471660614, 0.6780728101730347, 1.0473411083221436, -0.02962367795407772, 0.02962367795407772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6643396615982056, 0.45986875891685486, 1.2460898160934448, -0.9454871416091919, -1.3311588764190674, -4.539007932180539e-06, 4.539007932180539e-06, 0.44117647409439087, -1.3136110305786133, 0.7368200421333313, -0.39654383063316345, 0.6757839322090149, 1.0473411083221436, -0.027888987213373184, 0.027888987213373184], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6662470698356628, 0.45986875891685486, 1.2460898160934448, -0.9451056718826294, -1.3273441791534424, -4.539007932180539e-06, 4.539007932180539e-06, 0.44308385252952576, -1.3269627094268799, 0.7509346008300781, -0.4022659659385681, 0.6792172193527222, 1.046959638595581, -0.019539106637239456, 0.019539106637239456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6685358881950378, 0.45986875891685486, 1.2460898160934448, -0.9447242021560669, -1.3261997699737549, -4.539007932180539e-06, 4.539007932180539e-06, 0.44422826170921326, -1.3361181020736694, 0.7612344622612, -0.4076066315174103, 0.6826505064964294, 1.046959638595581, -0.011385072953999043, 0.011385072953999043], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6712062358856201, 0.46025025844573975, 1.2460898160934448, -0.9439612627029419, -1.3235293626785278, -4.539007932180539e-06, 4.539007932180539e-06, 0.44728007912635803, -1.3418402671813965, 0.7722972631454468, -0.41142138838768005, 0.691042959690094, 1.046959638595581, -0.00697705801576376, 0.00697705801576376], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6742580533027649, 0.46025025844573975, 1.2460898160934448, -0.9428167939186096, -1.3231478929519653, -4.539007932180539e-06, 4.539007932180539e-06, 0.4541466534137726, -1.347562313079834, 0.7921339869499207, -0.41142138838768005, 0.7059205174446106, 1.0465781688690186, -0.002954152412712574, 0.002954152412712574], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6769283413887024, 0.46101319789886475, 1.2460898160934448, -0.9420538544654846, -1.3204776048660278, -4.539007932180539e-06, 4.539007932180539e-06, 0.4648279547691345, -1.355954885482788, 0.8211261034011841, -0.41180285811424255, 0.7162203192710876, 1.0465781688690186, -0.0006392992218025029, 0.0006392992218025029], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6792172193527222, 0.46101319789886475, 1.2460898160934448, -0.9416723847389221, -1.3204776048660278, -4.539007932180539e-06, 4.539007932180539e-06, 0.47817960381507874, -1.3727397918701172, 0.8596551418304443, -0.41180285811424255, 0.7219424843788147, 1.0465781688690186, -0.0006392992218025029, 0.0006392992218025029], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6826505064964294, 0.46101319789886475, 1.2460898160934448, -0.9401465058326721, -1.3204776048660278, -4.539007932180539e-06, 4.539007932180539e-06, 0.49229419231414795, -1.3967727422714233, 0.9035248160362244, -0.41027694940567017, 0.7249943017959595, 1.0465781688690186, -0.0006392992218025029, 0.0006392992218025029], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6857023239135742, 0.46101319789886475, 1.2460898160934448, -0.9390020370483398, -1.3204776048660278, -4.539007932180539e-06, 4.539007932180539e-06, 0.5086976289749146, -1.425001859664917, 0.9508277773857117, -0.403410404920578, 0.7249943017959595, 1.0465781688690186, -0.0006392992218025029, 0.0006392992218025029], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6887540817260742, 0.46101319789886475, 1.2460898160934448, -0.9386205673217773, -1.3204776048660278, -4.539007932180539e-06, 4.539007932180539e-06, 0.5243381261825562, -1.4555199146270752, 0.9977492690086365, -0.39921414852142334, 0.7207980751991272, 1.046196699142456, -0.0007022834615781903, 0.0007022834615781903], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6906614899635315, 0.46101319789886475, 1.2460898160934448, -0.9390020370483398, -1.3204776048660278, -4.539007932180539e-06, 4.539007932180539e-06, 0.5376898050308228, -1.4860379695892334, 1.033226490020752, -0.38319218158721924, 0.7078278660774231, 1.046196699142456, -0.010077392682433128, 0.010077392682433128], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6921873688697815, 0.46101319789886475, 1.2460898160934448, -0.9390020370483398, -1.3204776048660278, -4.539007932180539e-06, 4.539007932180539e-06, 0.5498970150947571, -1.5108338594436646, 1.053444743156433, -0.35114824771881104, 0.6731135845184326, 1.046196699142456, -0.012710762210190296, 0.012710762210190296], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6956206560134888, 0.46139466762542725, 1.2460898160934448, -0.9378576278686523, -1.3204776048660278, -4.539007932180539e-06, 4.539007932180539e-06, 0.5647745728492737, -1.5329594612121582, 1.0694667100906372, -0.33131152391433716, 0.6265735626220703, 1.046196699142456, -0.013447612524032593, 0.013447612524032593], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.7024872303009033, 0.46139466762542725, 1.2460898160934448, -0.9298466444015503, -1.3204776048660278, -4.539007932180539e-06, 4.539007932180539e-06, 0.5788891315460205, -1.563096046447754, 1.0973143577575684, -0.32024872303009033, 0.5922408103942871, 1.046196699142456, -0.01528061181306839, 0.01528061181306839], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.7051575779914856, 0.4655908942222595, 1.2460898160934448, -0.9195467829704285, -1.3200961351394653, -4.539007932180539e-06, 4.539007932180539e-06, 0.5853742361068726, -1.589417815208435, 1.1354619264602661, -0.3255893886089325, 0.5743114352226257, 1.046196699142456, -0.015364833176136017, 0.015364833176136017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6994354128837585, 0.4839017391204834, 1.2464714050292969, -0.9058136940002441, -1.3017853498458862, -4.539007932180539e-06, 4.539007932180539e-06, 0.5884260535240173, -1.593614101409912, 1.1751353740692139, -0.38319218158721924, 0.5731670260429382, 1.0458152294158936, -0.010351576842367649, 0.010351576842367649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.6940947771072388, 0.5239566564559937, 1.2460898160934448, -0.8852140307426453, -1.2819485664367676, -4.539007932180539e-06, 4.539007932180539e-06, 0.5891889929771423, -1.562333106994629, 1.1907758712768555, -0.4854276478290558, 0.5937666893005371, 1.046196699142456, -0.00051525654271245, 0.00051525654271245], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2466239482164383, -0.700579822063446, 0.5693522691726685, 1.2464714050292969, -0.8501182794570923, -1.269741415977478, -4.539007932180539e-06, 4.539007932180539e-06, 0.5891889929771423, -1.5012969970703125, 1.1686503887176514, -0.5960555672645569, 0.6185625791549683, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2790493667125702, -0.733386754989624, 0.6010147333145142, 1.2453268766403198, -0.8234149813652039, -1.2636377811431885, -4.539007932180539e-06, 4.539007932180539e-06, 0.5872815847396851, -1.434920310974121, 1.115625262260437, -0.6696802973747253, 0.6425955891609192, 1.045433759689331, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.31414511799812317, -0.7948042750358582, 0.6189440488815308, 1.2453268766403198, -0.8127336502075195, -1.269359827041626, -4.539007932180539e-06, 4.539007932180539e-06, 0.5872815847396851, -1.362058401107788, 1.0385671854019165, -0.7154573798179626, 0.6670100092887878, 1.0450522899627686, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33245593309402466, -0.8623254895210266, 0.6288624405860901, 1.2449454069137573, -0.8184558153152466, -1.2975890636444092, -7.082896627252921e-05, 7.082896627252921e-05, 0.5872815847396851, -1.283092975616455, 0.9500648379325867, -0.7402533292770386, 0.6841763854026794, 1.0435264110565186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3377965986728668, -0.9130617380142212, 0.6338216066360474, 1.2453268766403198, -0.8375295400619507, -1.341458797454834, -0.009413096122443676, 0.009413096122443676, 0.5872815847396851, -1.2113755941390991, 0.8718623518943787, -0.7547493577003479, 0.6914244294166565, 1.0435264110565186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3400854468345642, -0.9390020370483398, 0.6349660754203796, 1.2453268766403198, -0.8512626886367798, -1.3788433074951172, -0.016328606754541397, 0.016328606754541397, 0.5872815847396851, -1.1499580144882202, 0.8089188933372498, -0.760471522808075, 0.6948577165603638, 1.0435264110565186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3404669165611267, -0.952735185623169, 0.6338216066360474, 1.2453268766403198, -0.8646143078804016, -1.407454013824463, -0.022591853514313698, 0.022591853514313698, 0.5872815847396851, -1.1064698696136475, 0.761997401714325, -0.763523280620575, 0.6960021257400513, 1.043907880783081, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3213931620121002, -0.9634165167808533, 0.6254291534423828, 1.2174792289733887, -0.8821622133255005, -1.4002059698104858, -0.025890903547406197, 0.025890903547406197, 0.5869001150131226, -1.0786221027374268, 0.726138710975647, -0.7650492191314697, 0.6963835954666138, 1.046959638595581, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.230601966381073, -0.9847791194915771, 0.6040665507316589, 1.0618371963500977, -0.9306095838546753, -1.2724117040634155, -0.027803868055343628, 0.027803868055343628, 0.5869001150131226, -1.0626001358032227, 0.7017242908477783, -0.7661936283111572, 0.6979095339775085, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12874799966812134, -1.0069047212600708, 0.5811780095100403, 0.9111543297767639, -0.9779125452041626, -1.1400396823883057, -0.029868237674236298, 0.029868237674236298, 0.5869001150131226, -1.053444743156433, 0.6872282028198242, -0.767719566822052, 0.699816882610321, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05893797054886818, -1.0179674625396729, 0.5617227554321289, 0.8253223299980164, -1.0114823579788208, -1.052681803703308, -0.03089965134859085, 0.03089965134859085, 0.5869001150131226, -1.048485517501831, 0.6784542798995972, -0.7681010365486145, 0.7070649266242981, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.024223696440458298, -1.030174732208252, 0.5529488325119019, 0.7734416723251343, -1.02521550655365, -1.0008010864257812, -0.031428564339876175, 0.031428564339876175, 0.5869001150131226, -1.045433759689331, 0.6734950542449951, -0.767719566822052, 0.7131685614585876, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.004386968910694122, -1.045433759689331, 0.5479896068572998, 0.7436865568161011, -1.024452567100525, -0.970283031463623, -0.03278324753046036, 0.03278324753046036, 0.5869001150131226, -1.043144941329956, 0.6700618267059326, -0.767719566822052, 0.7173647880554199, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.005531395319849253, -1.0637445449829102, 0.5457007884979248, 0.727664589881897, -1.0175859928131104, -0.9489204287528992, -0.03353308513760567, 0.03353308513760567, 0.5869001150131226, -1.0423818826675415, 0.6677729487419128, -0.7673380374908447, 0.7249943017959595, 1.0465781688690186, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01125352829694748, -1.0900664329528809, 0.5476081371307373, 0.7181277275085449, -1.0072861909866333, -0.9340428709983826, -0.034, 0.034, 0.5869001150131226, -1.0408560037612915, 0.6662470698356628, -0.767719566822052, 0.7299534678459167, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01430533267557621, -1.112191915512085, 0.5498970150947571, 0.7127870321273804, -0.9931715726852417, -0.9229800701141357, -0.034, 0.034, 0.5869001150131226, -1.038948655128479, 0.6658655405044556, -0.7673380374908447, 0.7337682247161865, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01583123579621315, -1.1255435943603516, 0.5514228940010071, 0.7097352743148804, -0.9859235286712646, -0.9157320261001587, -0.034, 0.034, 0.5869001150131226, -1.038948655128479, 0.6654840707778931, -0.7673380374908447, 0.7368200421333313, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01583123579621315, -1.1343175172805786, 0.5514228940010071, 0.7085908055305481, -0.9828717708587646, -0.9119172692298889, -0.034, 0.034, 0.5869001150131226, -1.038948655128479, 0.6654840707778931, -0.7673380374908447, 0.7375829815864563, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.007057297509163618, -1.1404211521148682, 0.5514228940010071, 0.7066834568977356, -0.9878309369087219, -0.9100099205970764, -0.034, 0.034, 0.5869001150131226, -1.0393301248550415, 0.6654840707778931, -0.7673380374908447, 0.7402533292770386, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.016212711110711098, -1.1472877264022827, 0.5506599545478821, 0.7063019871711731, -0.9924086332321167, -0.9119172692298889, -0.034, 0.034, 0.5869001150131226, -1.0393301248550415, 0.6654840707778931, -0.7673380374908447, 0.7402533292770386, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04634927958250046, -1.1575875282287598, 0.5518043637275696, 0.699053943157196, -0.9882124066352844, -0.9187838435173035, -0.034, 0.034, 0.5869001150131226, -1.0393301248550415, 0.6654840707778931, -0.7669565677642822, 0.7402533292770386, 1.046196699142456, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07686731964349747, -1.1701762676239014, 0.5537117719650269, 0.691042959690094, -0.9828717708587646, -0.9298466444015503, -0.03398910164833069, 0.03398910164833069, 0.5869001150131226, -1.040474534034729, 0.6654840707778931, -0.7673380374908447, 0.7402533292770386, 1.046196699142456, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10547798871994019, -1.1797131299972534, 0.5537117719650269, 0.6940947771072388, -0.9649423956871033, -0.9431982636451721, -0.029404954984784126, 0.029404954984784126, 0.5869001150131226, -1.0408560037612915, 0.6654840707778931, -0.7669565677642822, 0.7402533292770386, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12607766687870026, -1.1854352951049805, 0.5537117719650269, 0.7024872303009033, -0.9515907764434814, -0.9554055333137512, -0.02246236428618431, 0.02246236428618431, 0.5869001150131226, -1.0408560037612915, 0.6654840707778931, -0.7673380374908447, 0.7402533292770386, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13942931592464447, -1.188105583190918, 0.5521858334541321, 0.7200350761413574, -0.9447242021560669, -0.9660868048667908, -0.010546925477683544, 0.010546925477683544, 0.5869001150131226, -1.041237473487854, 0.6654840707778931, -0.7673380374908447, 0.7402533292770386, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14667734503746033, -1.186579704284668, 0.5518043637275696, 0.7143129706382751, -0.9428167939186096, -0.970283031463623, -0.0011774989543482661, 0.0011774989543482661, 0.5869001150131226, -1.042000412940979, 0.6654840707778931, -0.7673380374908447, 0.7402533292770386, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14820325374603271, -1.177805781364441, 0.5514228940010071, 0.7127870321273804, -0.9397650361061096, -0.9729533791542053, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.0423818826675415, 0.6654840707778931, -0.7673380374908447, 0.7402533292770386, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14057374000549316, -1.1625467538833618, 0.5521858334541321, 0.7089722752571106, -0.9260318875312805, -0.9729533791542053, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.0416189432144165, 0.6654840707778931, -0.7673380374908447, 0.7402533292770386, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10814831405878067, -1.1488136053085327, 0.5605783462524414, 0.7188906669616699, -0.9081025123596191, -0.9813458323478699, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.039711594581604, 0.6654840707778931, -0.767719566822052, 0.7410162687301636, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07915617525577545, -1.1419470310211182, 0.5811780095100403, 0.8009079098701477, -0.8829251527786255, -1.035896897315979, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.040474534034729, 0.6654840707778931, -0.767719566822052, 0.7417792081832886, 1.0458152294158936, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03643091395497322, -1.1419470310211182, 0.6025406122207642, 0.8802548050880432, -0.8566033244132996, -1.0862516164779663, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.0408560037612915, 0.6654840707778931, -0.767719566822052, 0.7433050870895386, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.016975661739706993, -1.1461433172225952, 0.6242847442626953, 0.925650417804718, -0.8428702354431152, -1.1102845668792725, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.0408560037612915, 0.6654840707778931, -0.767719566822052, 0.7436865568161011, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07610437273979187, -1.1572060585021973, 0.6498435735702515, 0.9523537158966064, -0.8241779208183289, -1.1240177154541016, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.0408560037612915, 0.6654840707778931, -0.767719566822052, 0.7440680265426636, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12836651504039764, -1.177805781364441, 0.6799801588058472, 0.9668498039245605, -0.8054856061935425, -1.1312657594680786, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.0408560037612915, 0.6654840707778931, -0.767719566822052, 0.7440680265426636, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1676585078239441, -1.2052719593048096, 0.7150759100914001, 0.9760051965713501, -0.7822155952453613, -1.1362248659133911, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.042000412940979, 0.6654840707778931, -0.767719566822052, 0.7440680265426636, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.19398032128810883, -1.2399863004684448, 0.7585641145706177, 0.9798199534416199, -0.7593270540237427, -1.1419470310211182, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.0435264110565186, 0.6654840707778931, -0.767719566822052, 0.7444495558738708, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.20923933386802673, -1.2804226875305176, 0.8093003630638123, 0.9828717708587646, -0.7402533292770386, -1.1427099704742432, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.045433759689331, 0.6654840707778931, -0.767719566822052, 0.7444495558738708, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21648737788200378, -1.3208590745925903, 0.8577477931976318, 0.9840161800384521, -0.7227054238319397, -1.1499580144882202, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.046196699142456, 0.6654840707778931, -0.767719566822052, 0.7444495558738708, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22220951318740845, -1.359006643295288, 0.9016174674034119, 0.9855420589447021, -0.6971465349197388, -1.1591134071350098, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.047722578048706, 0.6654840707778931, -0.767719566822052, 0.7444495558738708, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.22755016386508942, -1.3963912725448608, 0.9390020370483398, 0.9863049983978271, -0.6731135845184326, -1.1820019483566284, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.0496299266815186, 0.6654840707778931, -0.7673380374908447, 0.7444495558738708, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23441672325134277, -1.4215686321258545, 0.961509108543396, 0.9863049983978271, -0.647936224937439, -1.2075608968734741, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.051155924797058, 0.6654840707778931, -0.7673380374908447, 0.7444495558738708, 1.0458152294158936, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.24204623699188232, -1.435683250427246, 0.9714275002479553, 0.9866865277290344, -0.6261920928955078, -1.2350270748138428, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.0530632734298706, 0.6654840707778931, -0.7669565677642822, 0.7444495558738708, 1.0458152294158936, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.25272753834724426, -1.4414052963256836, 0.9718089699745178, 0.9863049983978271, -0.612077534198761, -1.2579156160354614, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.054970622062683, 0.6654840707778931, -0.7665750980377197, 0.7440680265426636, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2615014910697937, -1.4433127641677856, 0.9660868048667908, 0.9866865277290344, -0.5975814461708069, -1.271267294883728, -0.0012337989173829556, 0.0012337989173829556, 0.5869001150131226, -1.056496500968933, 0.6654840707778931, -0.7654306888580322, 0.7440680265426636, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2660791873931885, -1.4433127641677856, 0.9618905782699585, 0.9866865277290344, -0.5830853581428528, -1.2769893407821655, -0.0019059396581724286, 0.0019059396581724286, 0.5869001150131226, -1.0599298477172852, 0.6654840707778931, -0.7658121585845947, 0.7440680265426636, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.26836803555488586, -1.4368276596069336, 0.960746169090271, 0.9863049983978271, -0.5666819214820862, -1.269359827041626, -0.018623054027557373, 0.018623054027557373, 0.5869001150131226, -1.0633630752563477, 0.6654840707778931, -0.7669565677642822, 0.7444495558738708, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.27218279242515564, -1.405928134918213, 0.9584572911262512, 0.9866865277290344, -0.5502784848213196, -1.2338826656341553, -0.0241515152156353, 0.0241515152156353, 0.5869001150131226, -1.0656518936157227, 0.6654840707778931, -0.7669565677642822, 0.7440680265426636, 1.046196699142456, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2779049277305603, -1.3418402671813965, 0.9508277773857117, 0.9863049983978271, -0.5395971536636353, -1.1846723556518555, -0.023397762328386307, 0.023397762328386307, 0.5869001150131226, -1.0645074844360352, 0.6654840707778931, -0.7673380374908447, 0.7310978770256042, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.27180132269859314, -1.2342641353607178, 0.9142061471939087, 0.9870679974555969, -0.5373083353042603, -1.1495765447616577, -0.014382031746208668, 0.014382031746208668, 0.5869001150131226, -1.0530632734298706, 0.6654840707778931, -0.7681010365486145, 0.6849393248558044, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.21648737788200378, -1.0767147541046143, 0.8329518437385559, 0.9866865277290344, -0.5476081371307373, -1.1270694732666016, -0.004188410006463528, 0.004188410006463528, 0.5869001150131226, -1.033989429473877, 0.6654840707778931, -0.769245445728302, 0.6067368388175964, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10433356463909149, -0.8726252913475037, 0.7120240926742554, 0.9866865277290344, -0.5445563197135925, -1.126688003540039, -5.750389027525671e-05, 5.750389027525671e-05, 0.5869001150131226, -1.0179674625396729, 0.6719691753387451, -0.7776378989219666, 0.5056458115577698, 1.045433759689331, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06237125024199486, -0.6620507836341858, 0.5865186452865601, 0.9859235286712646, -0.508316159248352, -1.1621652841567993, -5.750389027525671e-05, 5.750389027525671e-05, 0.5869001150131226, -1.0133898258209229, 0.6948577165603638, -0.8222705721855164, 0.43202105164527893, 1.043144941329956, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24204623699188232, -0.4800869822502136, 0.47589075565338135, 0.9859235286712646, -0.4530022144317627, -1.2148088216781616, -5.750389027525671e-05, 5.750389027525671e-05, 0.5869001150131226, -1.0091935396194458, 0.7112611532211304, -0.8703364729881287, 0.369840532541275, 1.042763352394104, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39616236090660095, -0.3721294105052948, 0.4022659659385681, 0.9859235286712646, -0.4053177833557129, -1.2518119812011719, -5.750389027525671e-05, 5.750389027525671e-05, 0.5952925682067871, -0.9988937377929688, 0.7173647880554199, -0.9225986003875732, 0.3133821487426758, 1.0423818826675415, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5167086124420166, -0.3221561014652252, 0.3568703830242157, 0.9863049983978271, -0.325970858335495, -1.271267294883728, -5.750389027525671e-05, 5.750389027525671e-05, 0.6364919543266296, -0.9767681360244751, 0.7154573798179626, -0.9935530424118042, 0.2641718089580536, 1.0423818826675415, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6059738993644714, -0.31567102670669556, 0.33207446336746216, 0.9859235286712646, -0.22411687672138214, -1.272030234336853, -5.750389027525671e-05, 5.750389027525671e-05, 0.6986724734306335, -0.9496833682060242, 0.7089722752571106, -1.0648889541625977, 0.22220951318740845, 1.042000412940979, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6513695120811462, -0.3240634799003601, 0.31757840514183044, 0.9859235286712646, -0.11654078215360641, -1.2594414949417114, -5.750389027525671e-05, 5.750389027525671e-05, 0.7482643127441406, -0.925650417804718, 0.7047760486602783, -1.101892113685608, 0.19474326074123383, 1.0423818826675415, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6780728101730347, -0.33321890234947205, 0.3061341345310211, 0.9855420589447021, -0.03528648987412453, -1.2327382564544678, -5.750389027525671e-05, 5.750389027525671e-05, 0.8062485456466675, -0.8852140307426453, 0.692568838596344, -1.1232547760009766, 0.17757686972618103, 1.0423818826675415, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6887540817260742, -0.3377965986728668, 0.29812315106391907, 0.9836347103118896, 0.02079041674733162, -1.19611656665802, -5.750389027525671e-05, 5.750389027525671e-05, 0.8649957776069641, -0.8260852694511414, 0.6651026010513306, -1.1381323337554932, 0.17299915850162506, 1.042000412940979, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6944762468338013, -0.3381780683994293, 0.2943083941936493, 0.9836347103118896, 0.042153049260377884, -1.1583504676818848, -5.750389027525671e-05, 5.750389027525671e-05, 0.918402373790741, -0.7398717999458313, 0.6132219433784485, -1.1457618474960327, 0.16155488789081573, 1.0423818826675415, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6971465349197388, -0.33512628078460693, 0.2920195460319519, 0.9847791194915771, 0.03795681521296501, -1.1324101686477661, -5.750389027525671e-05, 5.750389027525671e-05, 0.967231273651123, -0.6197070479393005, 0.5384527444839478, -1.1488136053085327, 0.13141833245754242, 1.0423818826675415, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7001983523368835, -0.325970858335495, 0.291638046503067, 0.9863049983978271, 0.008201723918318748, -1.101129174232483, -5.750389027525671e-05, 5.750389027525671e-05, 0.9946975111961365, -0.4880979657173157, 0.45681697130203247, -1.1484321355819702, 0.12111848592758179, 1.0423818826675415, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7001983523368835, -0.3126192092895508, 0.291638046503067, 0.9866865277290344, -0.02880140393972397, -1.0721369981765747, -5.750389027525671e-05, 5.750389027525671e-05, 1.0076676607131958, -0.36335545778274536, 0.3767071068286896, -1.1484321355819702, 0.11501488089561462, 1.042763352394104, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.30231937766075134, 0.291638046503067, 0.9866865277290344, -0.06008239835500717, -1.0553520917892456, -5.750389027525671e-05, 5.750389027525671e-05, 1.0160601139068604, -0.273708701133728, 0.3068970739841461, -1.1480506658554077, 0.12531471252441406, 1.0423818826675415, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.29926756024360657, 0.291638046503067, 0.9874494671821594, -0.08030059933662415, -1.0450522899627686, -5.750389027525671e-05, 5.750389027525671e-05, 1.0179674625396729, -0.22220951318740845, 0.25501641631126404, -1.1446174383163452, 0.12989242374897003, 1.042763352394104, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.2973601818084717, 0.290875107049942, 0.9870679974555969, -0.09327077120542526, -1.038185715675354, -5.750389027525671e-05, 5.750389027525671e-05, 1.0137712955474854, -0.20466163754463196, 0.2138170450925827, -1.1442358493804932, 0.13027389347553253, 1.042763352394104, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.2950713336467743, 0.2912565767765045, 0.9870679974555969, -0.10090028494596481, -1.034752368927002, -5.750389027525671e-05, 5.750389027525671e-05, 0.9821087718009949, -0.19054703414440155, 0.17948424816131592, -1.1430914402008057, 0.12111848592758179, 1.043144941329956, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.28896772861480713, 0.2920195460319519, 0.9870679974555969, -0.10471503436565399, -1.033226490020752, -5.750389027525671e-05, 5.750389027525671e-05, 0.9454871416091919, -0.17948424816131592, 0.1516365259885788, -1.1358433961868286, 0.11501488089561462, 1.0435264110565186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.28248265385627747, 0.2927824854850769, 0.9870679974555969, -0.10814831405878067, -1.0320820808410645, -5.750389027525671e-05, 5.750389027525671e-05, 0.9222171306610107, -0.16994735598564148, 0.13179980218410492, -1.1270694732666016, 0.09479667246341705, 1.0435264110565186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.2794308364391327, 0.2939268946647644, 0.9870679974555969, -0.10852979123592377, -1.033989429473877, -5.750389027525671e-05, 5.750389027525671e-05, 0.9100099205970764, -0.16880293190479279, 0.1199740618467331, -1.121347427368164, 0.07572289556264877, 1.0442893505096436, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.2782863974571228, 0.2939268946647644, 0.9870679974555969, -0.11234454810619354, -1.040474534034729, -5.750389027525671e-05, 5.750389027525671e-05, 0.9039062857627869, -0.17719538509845734, 0.10585946589708328, -1.107614278793335, 0.04558632895350456, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.2790493667125702, 0.2927824854850769, 0.9870679974555969, -0.12073700875043869, -1.046959638595581, -5.750389027525671e-05, 5.750389027525671e-05, 0.9000915288925171, -0.19169145822525024, 0.08945601433515549, -1.0919737815856934, 0.018120087683200836, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.28324559330940247, 0.28973066806793213, 0.9870679974555969, -0.12874799966812134, -1.0473411083221436, -5.750389027525671e-05, 5.750389027525671e-05, 0.8985656499862671, -0.19436179101467133, 0.08030059933662415, -1.0835813283920288, -0.0009536888683214784, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.28629741072654724, 0.28858625888824463, 0.9870679974555969, -0.1325627565383911, -1.050774335861206, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.1981765478849411, 0.07495994865894318, -1.0767147541046143, -0.01125352829694748, 1.046196699142456, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.28591591119766235, 0.28896772861480713, 0.9870679974555969, -0.13179980218410492, -1.0606927871704102, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.1997024416923523, 0.07267109304666519, -1.0751888751983643, -0.01773861236870289, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.2817196846008301, 0.290112167596817, 0.9870679974555969, -0.12874799966812134, -1.0709925889968872, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20199130475521088, 0.0711451917886734, -1.0732814073562622, -0.020027466118335724, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7013428211212158, -0.2790493667125702, 0.2912565767765045, 0.9870679974555969, -0.12798504531383514, -1.0816738605499268, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20160982012748718, 0.07038223743438721, -1.0728999376296997, -0.02079041674733162, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7036316394805908, -0.2775234580039978, 0.291638046503067, 0.9866865277290344, -0.12684062123298645, -1.0889219045639038, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20199130475521088, 0.07000076025724411, -1.0725184679031372, -0.021171892061829567, 1.045433759689331, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7040131092071533, -0.2752346098423004, 0.2920195460319519, 0.9866865277290344, -0.12760357558727264, -1.0927367210388184, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20160982012748718, 0.07000076025724411, -1.0694667100906372, -0.023079270496964455, 1.0435264110565186, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.273708701133728, 0.2931639552116394, 0.9866865277290344, -0.12836651504039764, -1.0934996604919434, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20199130475521088, 0.07000076025724411, -1.0698481798171997, -0.02384222112596035, 1.043144941329956, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.2725642919540405, 0.2943083941936493, 0.9866865277290344, -0.12912946939468384, -1.0965514183044434, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20160982012748718, 0.07000076025724411, -1.0698481798171997, -0.02384222112596035, 1.043144941329956, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.2725642919540405, 0.2950713336467743, 0.9866865277290344, -0.12798504531383514, -1.0965514183044434, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20199130475521088, 0.07000076025724411, -1.0698481798171997, -0.02384222112596035, 1.0435264110565186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.2725642919540405, 0.2950713336467743, 0.9866865277290344, -0.12607766687870026, -1.0965514183044434, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20313572883605957, 0.07000076025724411, -1.0698481798171997, -0.02384222112596035, 1.0435264110565186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.272945761680603, 0.2950713336467743, 0.9866865277290344, -0.12111848592758179, -1.0961699485778809, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0698481798171997, -0.024223696440458298, 1.0435264110565186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.2763790488243103, 0.2950713336467743, 0.9863049983978271, -0.11501488089561462, -1.0881589651107788, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0694667100906372, -0.026131074875593185, 1.043907880783081, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.28667888045310974, 0.2950713336467743, 0.9863049983978271, -0.10891126841306686, -1.0767147541046143, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0694667100906372, -0.02689402550458908, 1.044670820236206, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.29964902997016907, 0.2939268946647644, 0.9863049983978271, -0.1024261862039566, -1.0690852403640747, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0690852403640747, -0.02727550081908703, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.31605249643325806, 0.2924010157585144, 0.9863049983978271, -0.09975585341453552, -1.0610742568969727, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0687037706375122, -0.02727550081908703, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.32940414547920227, 0.28973066806793213, 0.9863049983978271, -0.09594109654426575, -1.058022379875183, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0679408311843872, -0.02727550081908703, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.33627068996429443, 0.28782328963279724, 0.9859235286712646, -0.09632257372140884, -1.058022379875183, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0660333633422852, -0.02727550081908703, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.33131152391433716, 0.28515297174453735, 0.9863049983978271, -0.09632257372140884, -1.0584038496017456, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.02727550081908703, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7055390477180481, -0.3099488914012909, 0.2771419882774353, 1.0034713745117188, -0.09441519528627396, -1.0961699485778809, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.02727550081908703, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7169833183288574, -0.2740901708602905, 0.25196459889411926, 1.1255435943603516, -0.08602273464202881, -1.2422751188278198, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.02727550081908703, 1.046196699142456, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7459754347801208, -0.21992065012454987, 0.20351719856262207, 1.2510490417480469, -0.035667963325977325, -1.3796063661575317, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.02727550081908703, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7825970649719238, -0.17071031033992767, 0.15735866129398346, 1.3323034048080444, 0.00858320016413927, -1.4635308980941772, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.02727550081908703, 1.046196699142456, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8020523190498352, -0.13942931592464447, 0.12836651504039764, 1.3750286102294922, 0.00858320016413927, -1.5039674043655396, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0667964220046997, -0.02727550081908703, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8134965896606445, -0.11501488089561462, 0.10471503436565399, 1.4024949073791504, -0.01506828423589468, -1.5196079015731812, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0667964220046997, -0.02727550081908703, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8180742859840393, -0.09822995215654373, 0.08335240930318832, 1.41622793674469, -0.01773861236870289, -1.5234225988388062, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0671778917312622, -0.02727550081908703, 1.045433759689331, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8207446336746216, -0.08907453715801239, 0.05397878959774971, 1.425764799118042, 0.005912871100008488, -1.5268558263778687, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0690852403640747, -0.02727550081908703, 1.0450522899627686, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, -0.08220797777175903, 0.024605173617601395, 1.4303425550460815, 0.037193864583969116, -1.5306706428527832, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0687037706375122, -0.02727550081908703, 1.043144941329956, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, -0.07000076025724411, 0.00476844422519207, 1.433012843132019, 0.06542305648326874, -1.5314335823059082, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0687037706375122, -0.027656977996230125, 1.043144941329956, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, -0.04596780240535736, -0.016594186425209045, 1.4444571733474731, 0.086785688996315, -1.5432593822479248, -6.083200787543319e-05, 6.083200787543319e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0683223009109497, -0.02727550081908703, 1.043144941329956, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, -0.000572213320992887, -0.04139009863138199, 1.4597162008285522, 0.10814831405878067, -1.5581368207931519, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0683223009109497, -0.027656977996230125, 1.0435264110565186, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03337911143898964, -0.059319447726011276, 1.4711604118347168, 0.1184481605887413, -1.5650033950805664, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0667964220046997, -0.027656977996230125, 1.0435264110565186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.050164032727479935, -0.06847485899925232, 1.4772640466690063, 0.12569619715213776, -1.570344090461731, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.02727550081908703, 1.0435264110565186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.05741206929087639, -0.071908138692379, 1.4806973934173584, 0.13103684782981873, -1.572632908821106, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.027656977996230125, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.05893797054886818, -0.0722896158695221, 1.4814603328704834, 0.13218127191066742, -1.576066255569458, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.027656977996230125, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.05359731614589691, -0.071908138692379, 1.484130620956421, 0.13179980218410492, -1.5802624225616455, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.027656977996230125, 1.0465781688690186, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04940108209848404, -0.0707637146115303, 1.484130620956421, 0.13141833245754242, -1.58407723903656, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.027656977996230125, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.048256658017635345, -0.06961929053068161, 1.484130620956421, 0.13103684782981873, -1.586366057395935, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.027656977996230125, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.048256658017635345, -0.06885633617639542, 1.4845120906829834, 0.12912946939468384, -1.5867475271224976, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0667964220046997, -0.027656977996230125, 1.0465781688690186, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.046730753034353256, -0.06847485899925232, 1.4845120906829834, 0.12874799966812134, -1.58712899684906, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0667964220046997, -0.027656977996230125, 1.0465781688690186, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.045204851776361465, -0.06771191209554672, 1.4845120906829834, 0.12874799966812134, -1.5875104665756226, -5.750389027525671e-05, 5.750389027525671e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0667964220046997, -0.02727550081908703, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.045204851776361465, -0.06771191209554672, 1.4845120906829834, 0.12874799966812134, -1.587891936302185, -7.082896627252921e-05, 7.082896627252921e-05, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0671778917312622, -0.027656977996230125, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04444190114736557, -0.06771191209554672, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0671778917312622, -0.02727550081908703, 1.046196699142456, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04253452271223068, -0.06694895774126053, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0675593614578247, -0.027656977996230125, 1.046196699142456, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04177157208323479, -0.06656748056411743, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0690852403640747, -0.027656977996230125, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04177157208323479, -0.06656748056411743, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0687037706375122, -0.027656977996230125, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04177157208323479, -0.06656748056411743, 1.484893560409546, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0687037706375122, -0.027656977996230125, 1.0458152294158936, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04139009863138199, -0.06656748056411743, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0683223009109497, -0.027656977996230125, 1.045433759689331, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04139009863138199, -0.06656748056411743, 1.484893560409546, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.027656977996230125, 1.0450522899627686, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04139009863138199, -0.06656748056411743, 1.4845120906829834, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.027656977996230125, 1.043144941329956, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04139009863138199, -0.06656748056411743, 1.4845120906829834, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.027656977996230125, 1.043144941329956, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04100862145423889, -0.06656748056411743, 1.484893560409546, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.027656977996230125, 1.043144941329956, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04100862145423889, -0.06656748056411743, 1.484893560409546, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.027656977996230125, 1.043144941329956, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04100862145423889, -0.06656748056411743, 1.4845120906829834, 0.12874799966812134, -1.5897992849349976, -0.0006985606160014868, 0.0006985606160014868, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0664149522781372, -0.027656977996230125, 1.0435264110565186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04100862145423889, -0.06656748056411743, 1.4845120906829834, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0667964220046997, -0.027656977996230125, 1.0435264110565186, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04100862145423889, -0.06656748056411743, 1.4845120906829834, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0667964220046997, -0.027656977996230125, 1.044670820236206, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04100862145423889, -0.06656748056411743, 1.484893560409546, 0.12874799966812134, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20466163754463196, 0.07000076025724411, -1.0667964220046997, -0.027656977996230125, 1.046959638595581, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.04100862145423889, -0.06656748056411743, 1.4845120906829834, 0.12836651504039764, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.20351719856262207, 0.06809338182210922, -1.0667964220046997, -0.028038453310728073, 1.0465781688690186, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.040627144277095795, -0.06618601083755493, 1.4845120906829834, 0.12874799966812134, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.18940261006355286, 0.058175019919872284, -1.1346989870071411, -0.03528648987412453, 1.120202898979187, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.0398641936480999, -0.06580453366041183, 1.4845120906829834, 0.12836651504039764, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.16384375095367432, 0.04177157208323479, -1.2373158931732178, -0.04596780240535736, 1.2296863794326782, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.0398641936480999, -0.06542305648326874, 1.4845120906829834, 0.12874799966812134, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.135233074426651, 0.024223696440458298, -1.3658732175827026, -0.06008239835500717, 1.360532522201538, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.038719769567251205, -0.06542305648326874, 1.4845120906829834, 0.12836651504039764, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.1035706102848053, 0.007057297509163618, -1.4539940357208252, -0.07305257022380829, 1.4486533403396606, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03757534176111221, -0.06504157930612564, 1.4845120906829834, 0.12874799966812134, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.07000076025724411, -0.010109102353453636, -1.505874752998352, -0.08297093212604523, 1.498626708984375, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03757534176111221, -0.06427863240242004, 1.4845120906829834, 0.12874799966812134, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.04253452271223068, -0.02384222112596035, -1.5398260354995728, -0.09365224838256836, 1.5276188850402832, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03757534176111221, -0.06427863240242004, 1.4845120906829834, 0.12874799966812134, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.03032730519771576, -0.030708782374858856, -1.5547035932540894, -0.09784847497940063, 1.5440223217010498, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.037193864583969116, -0.06427863240242004, 1.4845120906829834, 0.12874799966812134, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.023079270496964455, -0.034142062067985535, -1.5642404556274414, -0.1024261862039566, 1.5527962446212769, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03643091395497322, -0.06427863240242004, 1.4845120906829834, 0.12874799966812134, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.02079041674733162, -0.03643091395497322, -1.5691996812820435, -0.1031891331076622, 1.5596628189086914, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03528648987412453, -0.06427863240242004, 1.484893560409546, 0.12874799966812134, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.01735713705420494, -0.037193864583969116, -1.5722514390945435, -0.10738536715507507, 1.562333106994629, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03528648987412453, -0.06427863240242004, 1.4845120906829834, 0.12874799966812134, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.5749218463897705, -0.10738536715507507, 1.5634775161743164, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03528648987412453, -0.06427863240242004, 1.4845120906829834, 0.12874799966812134, -1.589417815208435, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016212711110711098, -0.03795681521296501, -1.575303316116333, -0.10738536715507507, 1.563858985900879, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03528648987412453, -0.06427863240242004, 1.4845120906829834, 0.12874799966812134, -1.589417815208435, -0.0006985606160014868, 0.0006985606160014868, 0.8970397710800171, -0.016212711110711098, -0.03795681521296501, -1.578355073928833, -0.10738536715507507, 1.5642404556274414, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03490501269698143, -0.06389715522527695, 1.4845120906829834, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016212711110711098, -0.03795681521296501, -1.578355073928833, -0.10738536715507507, 1.566529393196106, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03490501269698143, -0.06389715522527695, 1.4845120906829834, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016212711110711098, -0.03795681521296501, -1.578355073928833, -0.10738536715507507, 1.566529393196106, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03490501269698143, -0.06389715522527695, 1.4845120906829834, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.578355073928833, -0.10700388997793198, 1.566529393196106, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03490501269698143, -0.06389715522527695, 1.4845120906829834, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.578355073928833, -0.10662241280078888, 1.566147804260254, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03490501269698143, -0.06389715522527695, 1.4845120906829834, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.578355073928833, -0.10662241280078888, 1.566147804260254, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03490501269698143, -0.06389715522527695, 1.484893560409546, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.5779736042022705, -0.10662241280078888, 1.566147804260254, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03490501269698143, -0.06389715522527695, 1.4845120906829834, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.5779736042022705, -0.10662241280078888, 1.566147804260254, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03490501269698143, -0.06389715522527695, 1.484893560409546, 0.12874799966812134, -1.5897992849349976, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.5779736042022705, -0.10662241280078888, 1.566147804260254, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03490501269698143, -0.06389715522527695, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.5779736042022705, -0.10624094307422638, 1.566147804260254, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.03490501269698143, -0.06389715522527695, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.5779736042022705, -0.10662241280078888, 1.566147804260254, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.034142062067985535, -0.06351567804813385, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.577592134475708, -0.10662241280078888, 1.566147804260254, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.034142062067985535, -0.06351567804813385, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.577592134475708, -0.10662241280078888, 1.5657663345336914, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.034142062067985535, -0.06351567804813385, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.5772106647491455, -0.10662241280078888, 1.5657663345336914, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.034142062067985535, -0.06351567804813385, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.574540376663208, -0.10662241280078888, 1.565384864807129, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.034142062067985535, -0.06351567804813385, 1.4845120906829834, 0.12874799966812134, -1.590562343597412, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.5749218463897705, -0.10662241280078888, 1.565384864807129, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.034142062067985535, -0.06351567804813385, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.5749218463897705, -0.10662241280078888, 1.565384864807129, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, 0.034142062067985535, -0.06351567804813385, 1.4845120906829834, 0.12874799966812134, -1.5901808738708496, -0.0007022834615781903, 0.0007022834615781903, 0.8970397710800171, -0.016594186425209045, -0.03795681521296501, -1.5749218463897705, -0.10662241280078888, 1.565384864807129, -0.0002127825136994943, 0.0002127825136994943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000029/meta.json b/rc-table30-v2__rc-dos-w1/000029/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5080b23b470eb7c6abadbae8a18ff04da9812d97
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000029/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Place the ball from the desk onto the small tray, and then move the small tray onto the large tray.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 11481,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000029/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000029/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..5c0f18a4eef4acc413e1a16f6a8a7a0e0816c94d
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000029/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000029/temporal.json b/rc-table30-v2__rc-dos-w1/000029/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9218bcef1c4951a6b8746d093996a50bfe931f4
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000029/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.028038453310728073, -0.0394827201962471, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.422883886145428e-05, 9.422883886145428e-05, 0.8279926776885986, -0.028038453310728073, -0.0394827201962471, -1.5455482006072998, -0.11005569249391556, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.028038453310728073, -0.039101243019104004, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.028038453310728073, -0.0394827201962471, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.6416800022125244, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.028038453310728073, -0.0394827201962471, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.028038453310728073, -0.0394827201962471, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.04177157208323479, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.028038453310728073, -0.0394827201962471, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.028038453310728073, -0.0394827201962471, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.422883886145428e-05, 9.422883886145428e-05, 0.8279926776885986, -0.028038453310728073, -0.0394827201962471, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.028038453310728073, -0.0394827201962471, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.422883886145428e-05, 9.422883886145428e-05, 0.8279926776885986, -0.02841992862522602, -0.0394827201962471, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.02841992862522602, -0.0394827201962471, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.02841992862522602, -0.039101243019104004, -1.5455482006072998, -0.11043716967105865, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.027656977996230125, -0.026131074875593185, -1.5459296703338623, -0.10585946589708328, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.024605173617601395, 0.01583123579621315, -1.5459296703338623, -0.07000076025724411, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.042153049260377884, -0.029182879254221916, 1.642061471939087, 0.11158160120248795, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8279926776885986, -0.030708782374858856, 0.09784847497940063, -1.5459296703338623, -0.000572213320992887, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.04253452271223068, -0.029182879254221916, 1.642061471939087, 0.11120012402534485, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8276112079620361, -0.06351567804813385, 0.2161058932542801, -1.5455482006072998, 0.1203555315732956, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.04329747334122658, -0.02880140393972397, 1.642061471939087, 0.11120012402534485, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.8207446336746216, -0.12226291000843048, 0.3595407009124756, -1.5444037914276123, 0.2634088695049286, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.04329747334122658, -0.02880140393972397, 1.642061471939087, 0.11120012402534485, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.7829785346984863, -0.20428015291690826, 0.5189974904060364, -1.5363928079605103, 0.42515450716018677, 1.5978103876113892, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.04558632895350456, -0.027656977996230125, 1.642061471939087, 0.11120012402534485, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.6887540817260742, -0.31681543588638306, 0.6898985505104065, -1.5207523107528687, 0.6174181699752808, 1.5981918573379517, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.04634927958250046, -0.02689402550458908, 1.642061471939087, 0.11081864684820175, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.536163866519928, -0.44155794382095337, 0.8302815556526184, -1.4734493494033813, 0.8005264401435852, 1.5451667308807373, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.04558632895350456, -0.02689402550458908, 1.642061471939087, 0.11081864684820175, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.29926756024360657, -0.5746929049491882, 0.9187838435173035, -1.3147554397583008, 0.9489204287528992, 1.4032578468322754, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.045204851776361465, -0.02727550081908703, 1.642061471939087, 0.11081864684820175, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, 0.05054550990462303, -0.7410162687301636, 0.9699015617370605, -1.1152437925338745, 1.0782406330108643, 1.2468528747558594, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.04711223021149635, -0.02689402550458908, 1.642061471939087, 0.11120012402534485, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, -0.14248111844062805, -0.924887478351593, 1.0263599157333374, -0.9767681360244751, 1.185816764831543, 1.1503394842147827, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05130846053361893, -0.024986648932099342, 1.642061471939087, 0.11081864684820175, -1.6699092388153076, -9.758010128280148e-05, 9.758010128280148e-05, -0.290875107049942, -1.1007477045059204, 1.0893033742904663, -0.9069581031799316, 1.2994964122772217, 1.0961699485778809, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.0555046908557415, -0.023460745811462402, 1.642061471939087, 0.11043716967105865, -1.6702907085418701, -9.758010128280148e-05, 9.758010128280148e-05, -0.4064621925354004, -1.2426565885543823, 1.1572060585021973, -0.8630884289741516, 1.412413239479065, 1.0648889541625977, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.022697795182466507, 1.642061471939087, 0.11081864684820175, -1.6706721782684326, -9.758010128280148e-05, 9.758010128280148e-05, -0.49305713176727295, -1.342984676361084, 1.2232013940811157, -0.8421072959899902, 1.5035858154296875, 1.045433759689331, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.022697795182466507, 1.642061471939087, 0.11158160120248795, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.5598153471946716, -1.416990876197815, 1.2857633829116821, -0.8646143078804016, 1.568818211555481, 1.0370413064956665, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.022697795182466507, 1.642061471939087, 0.11158160120248795, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.6097886562347412, -1.4761196374893188, 1.3361181020736694, -0.9000915288925171, 1.6103990077972412, 1.030174732208252, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06008239835500717, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.6403067111968994, -1.5337224006652832, 1.3719768524169922, -0.919165313243866, 1.6351948976516724, 1.0263599157333374, -0.0003269556036684662, 0.0003269556036684662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06160829961299896, -0.021171892061829567, 1.642061471939087, 0.11120012402534485, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.656710147857666, -1.580643892288208, 1.3902876377105713, -0.9344243407249451, 1.644350290298462, 1.0240710973739624, -0.0029242783784866333, 0.0029242783784866333], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06160829961299896, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.6677729487419128, -1.6191729307174683, 1.4047837257385254, -0.9458686113357544, 1.6432058811187744, 1.0236896276474, -0.009546016342937946, 0.009546016342937946], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.061226826161146164, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.6719691753387451, -1.644731879234314, 1.41775381565094, -0.9584572911262512, 1.6283283233642578, 1.0236896276474, -0.01780231110751629, 0.01780231110751629], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.061226826161146164, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.6746395230293274, -1.6618982553482056, 1.432249903678894, -0.9847791194915771, 1.6126878261566162, 1.028648853302002, -0.02350703440606594, 0.02350703440606594], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06160829961299896, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6721980571746826, -9.422883886145428e-05, 9.422883886145428e-05, -0.6773098111152649, -1.6760128736495972, 1.4482718706130981, -1.0088120698928833, 1.6012436151504517, 1.0393301248550415, -0.025598132982850075, 0.025598132982850075], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06160829961299896, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.6780728101730347, -1.6886014938354492, 1.4669642448425293, -1.022926688194275, 1.5882734060287476, 1.042763352394104, -0.026974396780133247, 0.026974396780133247], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06160829961299896, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.6776912808418274, -1.7034790515899658, 1.483367681503296, -1.030174732208252, 1.574158787727356, 1.0465781688690186, -0.027204373851418495, 0.027204373851418495], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06275273114442825, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.6715877056121826, -1.7233158349990845, 1.494430422782898, -1.035896897315979, 1.565384864807129, 1.046959638595581, -0.027204373851418495, 0.027204373851418495], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06313420087099075, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.6532768607139587, -1.7416266202926636, 1.5012969970703125, -1.0362783670425415, 1.5611886978149414, 1.049248456954956, -0.027204373851418495, 0.027204373851418495], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06313420087099075, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.6288624405860901, -1.7565041780471802, 1.507400631904602, -1.0351338386535645, 1.5611886978149414, 1.0488669872283936, -0.027204373851418495, 0.027204373851418495], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06275273114442825, -0.02079041674733162, 1.642061471939087, 0.11196307092905045, -1.6721980571746826, -9.422883886145428e-05, 9.422883886145428e-05, -0.6097886562347412, -1.7690927982330322, 1.5119783878326416, -1.0362783670425415, 1.5569924116134644, 1.0488669872283936, -0.027204373851418495, 0.027204373851418495], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06275273114442825, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.5895704627037048, -1.7805371284484863, 1.514648675918579, -1.0370413064956665, 1.5550850629806519, 1.0488669872283936, -0.027204373851418495, 0.027204373851418495], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06275273114442825, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.5727855563163757, -1.7915998697280884, 1.5150301456451416, -1.0370413064956665, 1.5550850629806519, 1.0481040477752686, -0.027194807305932045, 0.027194807305932045], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06275273114442825, -0.02079041674733162, 1.6416800022125244, 0.11158160120248795, -1.6721980571746826, -9.758010128280148e-05, 9.758010128280148e-05, -0.5643930435180664, -1.801899790763855, 1.5150301456451416, -1.043907880783081, 1.5547035932540894, 1.0473411083221436, -0.026762861758470535, 0.026762861758470535], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06275273114442825, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.5594338774681091, -1.8095293045043945, 1.5150301456451416, -1.0481040477752686, 1.5539406538009644, 1.0473411083221436, -0.022163452580571175, 0.022163452580571175], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06275273114442825, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.5540932416915894, -1.814488410949707, 1.5142672061920166, -1.0488669872283936, 1.5497443675994873, 1.0465781688690186, -0.017162885516881943, 0.017162885516881943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06275273114442825, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, -0.5521858334541321, -1.817158818244934, 1.5108338594436646, -1.054207682609558, 1.5485999584197998, 1.0465781688690186, -0.013135070912539959, 0.013135070912539959], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06275273114442825, -0.02079041674733162, 1.6416800022125244, 0.11158160120248795, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.5498970150947571, -1.8175402879714966, 1.5070191621780396, -1.057259440422058, 1.5478370189666748, 1.043144941329956, -0.012161710299551487, 0.012161710299551487], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06275273114442825, -0.02079041674733162, 1.6416800022125244, 0.11158160120248795, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.5479896068572998, -1.817158818244934, 1.5047303438186646, -1.058022379875183, 1.5459296703338623, 1.045433759689331, -0.012127158232033253, 0.012127158232033253], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06160829961299896, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.5449378490447998, -1.815251350402832, 1.5039674043655396, -1.0606927871704102, 1.5428777933120728, 1.0458152294158936, -0.012101269327104092, 0.012101269327104092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.061226826161146164, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.5403600931167603, -1.811436653137207, 1.503204345703125, -1.0645074844360352, 1.5390630960464478, 1.046196699142456, -0.012084022164344788, 0.012084022164344788], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, -0.534637987613678, -1.80418860912323, 1.5028228759765625, -1.0629816055297852, 1.5360113382339478, 1.046959638595581, -0.01206678431481123, 0.01206678431481123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.6416800022125244, 0.11081864684820175, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, -0.5323491096496582, -1.793125867843628, 1.5028228759765625, -1.0481040477752686, 1.5512703657150269, 1.047722578048706, -0.011741053313016891, 0.011741053313016891], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.5308232307434082, -1.7763408422470093, 1.5039674043655396, -1.0297932624816895, 1.563858985900879, 1.047722578048706, -0.01108338963240385, 0.01108338963240385], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.6416800022125244, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.5304417610168457, -1.7599374055862427, 1.504348874092102, -1.0080491304397583, 1.576829195022583, 1.0481040477752686, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.5281528830528259, -1.744296908378601, 1.504348874092102, -0.9798199534416199, 1.590562343597412, 1.0496299266815186, -0.010206044651567936, 0.010206044651567936], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.5167086124420166, -1.7301822900772095, 1.504348874092102, -0.9584572911262512, 1.6115434169769287, 1.0488669872283936, -0.010206044651567936, 0.010206044651567936], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.4968718886375427, -1.71644926071167, 1.504348874092102, -0.9412909150123596, 1.6351948976516724, 1.0458152294158936, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, -0.47589075565338135, -1.7023346424102783, 1.5028228759765625, -0.9355688095092773, 1.6496909856796265, 1.0458152294158936, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.4518577754497528, -1.6855497360229492, 1.4932860136032104, -0.9302281141281128, 1.663805603981018, 1.0450522899627686, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, -0.42782482504844666, -1.664568543434143, 1.4665827751159668, -0.9180209040641785, 1.6672388315200806, 1.0435264110565186, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.02079041674733162, 1.6416800022125244, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.41027694940567017, -1.640535593032837, 1.4208056926727295, -0.8916990756988525, 1.6569390296936035, 1.042000412940979, -0.01018992718309164, 0.01018992718309164], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.02079041674733162, 1.6416800022125244, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.3877699077129364, -1.6168841123580933, 1.3658732175827026, -0.8691920638084412, 1.6210802793502808, 1.042000412940979, -0.01018992718309164, 0.01018992718309164], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.3549630045890808, -1.5981918573379517, 1.3128480911254883, -0.8562218546867371, 1.5917067527770996, 1.0370413064956665, -0.01018992718309164, 0.01018992718309164], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.31567102670669556, -1.5844587087631226, 1.2674524784088135, -0.8447775840759277, 1.5642404556274414, 1.029411792755127, -0.010181872174143791, 0.010181872174143791], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.02079041674733162, 1.6416800022125244, 0.11120012402534485, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, -0.2813382148742676, -1.5756847858428955, 1.2308309078216553, -0.841725766658783, 1.5260928869247437, 1.0267413854599, -0.010173818096518517, 0.010173818096518517], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.25387197732925415, -1.568818211555481, 1.199549913406372, -0.8413442969322205, 1.495956301689148, 1.0255969762802124, -0.010165768675506115, 0.010165768675506115], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.02079041674733162, 1.6416800022125244, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.23441672325134277, -1.563858985900879, 1.1694133281707764, -0.839436948299408, 1.4646753072738647, 1.024452567100525, -0.010141635313630104, 0.010141635313630104], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.22487983107566833, -1.559281349182129, 1.1411840915679932, -0.8363851308822632, 1.4398794174194336, 1.0233081579208374, -0.010141635313630104, 0.010141635313630104], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.22182802855968475, -1.5585182905197144, 1.1175326108932495, -0.8367666006088257, 1.4105058908462524, 1.0236896276474, -0.010141635313630104, 0.010141635313630104], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.21877622604370117, -1.559281349182129, 1.0992218255996704, -0.8375295400619507, 1.3933393955230713, 1.0236896276474, -0.010141635313630104, 0.010141635313630104], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.2149614691734314, -1.560044288635254, 1.0873960256576538, -0.8371480703353882, 1.3799878358840942, 1.0233081579208374, -0.010133595205843449, 0.010133595205843449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, -0.2145799994468689, -1.5611886978149414, 1.0805294513702393, -0.8375295400619507, 1.3670176267623901, 1.0236896276474, -0.010133595205843449, 0.010133595205843449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, -0.2145799994468689, -1.562333106994629, 1.0774776935577393, -0.8375295400619507, 1.360532522201538, 1.0233081579208374, -0.010133595205843449, 0.010133595205843449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.6416800022125244, 0.11158160120248795, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, -0.212672621011734, -1.563096046447754, 1.0751888751983643, -0.837911069393158, 1.355954885482788, 1.0233081579208374, -0.010133595205843449, 0.010133595205843449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, -0.212672621011734, -1.563858985900879, 1.0732814073562622, -0.840962827205658, 1.3529030084609985, 1.0233081579208374, -0.010133595205843449, 0.010133595205843449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.212672621011734, -1.563858985900879, 1.0725184679031372, -0.8451590538024902, 1.3513771295547485, 1.0236896276474, -0.010141635313630104, 0.010141635313630104], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.6416800022125244, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.212672621011734, -1.563858985900879, 1.0721369981765747, -0.8516441583633423, 1.3483253717422485, 1.0236896276474, -0.011125098913908005, 0.011125098913908005], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.6416800022125244, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.212672621011734, -1.563858985900879, 1.0721369981765747, -0.8543145060539246, 1.3471808433532715, 1.0233081579208374, -0.016157345846295357, 0.016157345846295357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.212672621011734, -1.563858985900879, 1.0721369981765747, -0.8585107326507568, 1.343747615814209, 1.0233081579208374, -0.02128661796450615, 0.02128661796450615], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.02079041674733162, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.212672621011734, -1.562333106994629, 1.0721369981765747, -0.8638513684272766, 1.337262511253357, 1.0233081579208374, -0.02508850395679474, 0.02508850395679474], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05970092490315437, -0.021171892061829567, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.212672621011734, -1.5547035932540894, 1.0725184679031372, -0.8649957776069641, 1.334973692893982, 1.0233081579208374, -0.026897555217146873, 0.026897555217146873], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021171892061829567, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, -0.21648737788200378, -1.5371557474136353, 1.0793850421905518, -0.8710994124412537, 1.3330663442611694, 1.0236896276474, -0.027832254767417908, 0.027832254767417908], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05703059583902359, -0.021171892061829567, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.2283131182193756, -1.505111813545227, 1.0976959466934204, -0.8859769701957703, 1.3353551626205444, 1.0236896276474, -0.02933177351951599, 0.02933177351951599], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05703059583902359, -0.021553369238972664, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.2454795092344284, -1.4662013053894043, 1.1232547760009766, -0.9012359976768494, 1.342221736907959, 1.0236896276474, -0.02968723699450493, 0.02968723699450493], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05703059583902359, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.2588311731815338, -1.4150835275650024, 1.1579689979553223, -0.9237430095672607, 1.3403143882751465, 1.0236896276474, -0.02968723699450493, 0.02968723699450493], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05703059583902359, -0.021553369238972664, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, -0.2462424635887146, -1.3662546873092651, 1.1919203996658325, -0.9390020370483398, 1.3021668195724487, 1.0236896276474, -0.02968723699450493, 0.02968723699450493], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.17833982408046722, -1.3376439809799194, 1.2346456050872803, -0.9660868048667908, 1.2491416931152344, 1.0236896276474, -0.02968723699450493, 0.02968723699450493], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05703059583902359, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, -0.05741206929087639, -1.3353551626205444, 1.275844931602478, -1.0393301248550415, 1.1827648878097534, 1.0236896276474, -0.02968723699450493, 0.02968723699450493], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, 0.07419699430465698, -1.3624398708343506, 1.3105592727661133, -1.1152437925338745, 1.0900664329528809, 1.0240710973739624, -0.02968723699450493, 0.02968723699450493], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.1817730963230133, -1.423475980758667, 1.3593881130218506, -1.1575875282287598, 1.0069047212600708, 1.044670820236206, -0.02968723699450493, 0.02968723699450493], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.2573052644729614, -1.504348874092102, 1.418898344039917, -1.179331660270691, 0.9538795948028564, 1.0618371963500977, -0.02981403097510338, 0.02981403097510338], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05855649709701538, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.3076600432395935, -1.5890363454818726, 1.485656499862671, -1.19459068775177, 0.9084840416908264, 1.1015106439590454, -0.03231526538729668, 0.03231526538729668], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.3419928252696991, -1.6718165874481201, 1.5581368207931519, -1.2045090198516846, 0.8749141693115234, 1.1408026218414307, -0.033375903964042664, 0.033375903964042664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.36488136649131775, -1.7519264221191406, 1.6355763673782349, -1.2087053060531616, 0.8569847941398621, 1.1636911630630493, -0.033828120678663254, 0.033828120678663254], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.38166627287864685, -1.8259327411651611, 1.7160677909851074, -1.2121385335922241, 0.8546959757804871, 1.1789501905441284, -0.033828120678663254, 0.033828120678663254], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.6416800022125244, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.39463645219802856, -1.8930723667144775, 1.7896925210952759, -1.2125200033187866, 0.8585107326507568, 1.1854352951049805, -0.033828120678663254, 0.033828120678663254], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.4030289053916931, -1.9552528858184814, 1.8602654933929443, -1.2136644124984741, 0.8737697601318359, 1.1892499923706055, -0.033828120678663254, 0.033828120678663254], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.4056992530822754, -2.0067520141601562, 1.9174867868423462, -1.2155718803405762, 0.8951323628425598, 1.1926833391189575, -0.033828120678663254, 0.033828120678663254], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.4076066315174103, -2.043755292892456, 1.954108476638794, -1.2159533500671387, 0.9065766334533691, 1.1934462785720825, -0.033828120678663254, 0.033828120678663254], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.40951400995254517, -2.0685510635375977, 1.97356379032135, -1.2174792289733887, 0.9126802682876587, 1.1964980363845825, -0.033828120678663254, 0.033828120678663254], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.41027694940567017, -2.0864806175231934, 1.9838635921478271, -1.2266346216201782, 0.9142061471939087, 1.196879506111145, -0.033828120678663254, 0.033828120678663254], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, 0.40989547967910767, -2.099069118499756, 1.9888228178024292, -1.2357900142669678, 0.9138246774673462, 1.1964980363845825, -0.033828120678663254, 0.033828120678663254], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, 0.40989547967910767, -2.1070802211761475, 1.9918745756149292, -1.2422751188278198, 0.9107728600502014, 1.1964980363845825, -0.033812712877988815, 0.033812712877988815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.40989547967910767, -2.1131837368011475, 1.9934004545211792, -1.2495231628417969, 0.9069581031799316, 1.1964980363845825, -0.0338050052523613, 0.0338050052523613], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.40989547967910767, -2.115854024887085, 1.9945448637008667, -1.2521934509277344, 0.8993285894393921, 1.1964980363845825, -0.03378957509994507, 0.03378957509994507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.40989547967910767, -2.118143081665039, 1.9945448637008667, -1.2533378601074219, 0.89131760597229, 1.1964980363845825, -0.03363455832004547, 0.03363455832004547], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.40989547967910767, -2.1192874908447266, 1.9945448637008667, -1.2537193298339844, 0.8794918656349182, 1.1964980363845825, -0.03363455832004547, 0.03363455832004547], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, 0.41027694940567017, -2.1208133697509766, 1.9945448637008667, -1.2563897371292114, 0.8726252913475037, 1.1964980363845825, -0.03310574218630791, 0.03310574218630791], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.41103988885879517, -2.1238651275634766, 1.9945448637008667, -1.2563897371292114, 0.8680475950241089, 1.19611656665802, -0.03204833343625069, 0.03204833343625069], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.41256579756736755, -2.127298355102539, 1.9945448637008667, -1.2563897371292114, 0.8661402463912964, 1.19611656665802, -0.031195657327771187, 0.031195657327771187], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.41371023654937744, -2.131113052368164, 1.9945448637008667, -1.2563897371292114, 0.8669031858444214, 1.19611656665802, -0.028880657628178596, 0.028880657628178596], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.41485464572906494, -2.1330206394195557, 1.9945448637008667, -1.2563897371292114, 0.8688105344772339, 1.19611656665802, -0.021346377208828926, 0.021346377208828926], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.41523614525794983, -2.134165048599243, 1.9949263334274292, -1.2563897371292114, 0.8722438216209412, 1.19611656665802, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.41599908471107483, -2.1337835788726807, 1.9949263334274292, -1.2563897371292114, 0.8772030472755432, 1.1957350969314575, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.41599908471107483, -2.1284427642822266, 1.9949263334274292, -1.2571526765823364, 0.8985656499862671, 1.195353627204895, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.4171435236930847, -2.10898756980896, 1.9945448637008667, -1.270504355430603, 0.9050507545471191, 1.1949721574783325, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.059319447726011276, -0.021553369238972664, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.4171435236930847, -2.069695472717285, 1.9937819242477417, -1.2884336709976196, 0.9111543297767639, 1.1926833391189575, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05703059583902359, -0.021553369238972664, 1.642061471939087, 0.11158160120248795, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.41676202416419983, -2.0063705444335938, 1.970130443572998, -1.2991149425506592, 0.9142061471939087, 1.1926833391189575, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.021553369238972664, 1.642061471939087, 0.11081864684820175, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.4171435236930847, -1.9087128639221191, 1.9064240455627441, -1.3029297590255737, 0.8886472582817078, 1.1926833391189575, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.021553369238972664, 1.642061471939087, 0.11081864684820175, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.4171435236930847, -1.793888807296753, 1.8060959577560425, -1.3075073957443237, 0.8657587766647339, 1.1926833391189575, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.021553369238972664, 1.642061471939087, 0.11081864684820175, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.41676202416419983, -1.6649500131607056, 1.6592278480529785, -1.3109407424926758, 0.8321889042854309, 1.19306480884552, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.021553369238972664, 1.642061471939087, 0.11081864684820175, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.4171435236930847, -1.5455482006072998, 1.500152587890625, -1.3109407424926758, 0.7852674126625061, 1.19306480884552, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.021553369238972664, 1.642061471939087, 0.11081864684820175, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.4201953113079071, -1.4471274614334106, 1.3483253717422485, -1.3136110305786133, 0.7494087219238281, 1.19306480884552, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05741206929087639, -0.02231631986796856, 1.642061471939087, 0.11081864684820175, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.42782482504844666, -1.3715953826904297, 1.2224383354187012, -1.3117036819458008, 0.7188906669616699, 1.193827748298645, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, 0.44193941354751587, -1.3250553607940674, 1.120202898979187, -1.3101778030395508, 0.7047760486602783, 1.19611656665802, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, 0.45910581946372986, -1.2998778820037842, 1.0435264110565186, -1.3094148635864258, 0.6822690367698669, 1.19611656665802, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, 0.4732204079627991, -1.2922483682632446, 0.9916456937789917, -1.3090333938598633, 0.6639581918716431, 1.19611656665802, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.4812313914299011, -1.2968261241912842, 0.961509108543396, -1.3067444562911987, 0.6532768607139587, 1.19611656665802, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.4854276478290558, -1.3075073957443237, 0.9454871416091919, -1.3067444562911987, 0.6448844075202942, 1.1957350969314575, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.4877164959907532, -1.3189517259597778, 0.9370946884155273, -1.3067444562911987, 0.6376363635063171, 1.1957350969314575, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, 0.48962387442588806, -1.3307774066925049, 0.9325169920921326, -1.3071259260177612, 0.6372548937797546, 1.195353627204895, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, 0.48962387442588806, -1.3403143882751465, 0.9302281141281128, -1.3071259260177612, 0.6338216066360474, 1.1949721574783325, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49000534415245056, -1.3456549644470215, 0.9290837049484253, -1.3071259260177612, 0.6326771974563599, 1.1949721574783325, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.49076828360557556, -1.350232720375061, 0.9279392957687378, -1.3067444562911987, 0.6326771974563599, 1.192301869392395, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.49076828360557556, -1.3551918268203735, 0.9267948269844055, -1.3063629865646362, 0.6322957277297974, 1.192301869392395, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, 0.49153125286102295, -1.3616769313812256, 0.9260318875312805, -1.3059815168380737, 0.6319142580032349, 1.192301869392395, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49153125286102295, -1.3681620359420776, 0.9252689480781555, -1.3029297590255737, 0.6303883194923401, 1.192301869392395, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, 0.49153125286102295, -1.3719768524169922, 0.9237430095672607, -1.3021668195724487, 0.6242847442626953, 1.1926833391189575, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49153125286102295, -1.3746471405029297, 0.9225986003875732, -1.2983520030975342, 0.6219958662986755, 1.19306480884552, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49153125286102295, -1.3765544891357422, 0.9222171306610107, -1.2975890636444092, 0.6177996397018433, 1.19306480884552, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49153125286102295, -1.3792248964309692, 0.9206912517547607, -1.2953002452850342, 0.6155108213424683, 1.195353627204895, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49153125286102295, -1.3815137147903442, 0.9203097820281982, -1.2949187755584717, 0.615129292011261, 1.1964980363845825, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49153125286102295, -1.3830395936965942, 0.9195467829704285, -1.2949187755584717, 0.615129292011261, 1.19611656665802, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3838025331497192, 0.9187838435173035, -1.2945373058319092, 0.6147478222846985, 1.19611656665802, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3845654726028442, 0.9187838435173035, -1.2945373058319092, 0.614366352558136, 1.19611656665802, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2945373058319092, 0.613603413105011, 1.19611656665802, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2941558361053467, 0.613603413105011, 1.1957350969314575, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2941558361053467, 0.613603413105011, 1.1957350969314575, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2941558361053467, 0.613603413105011, 1.195353627204895, -0.01890796236693859, 0.01890796236693859], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2941558361053467, 0.613603413105011, 1.195353627204895, -0.019075307995080948, 0.019075307995080948], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2937743663787842, 0.614366352558136, 1.1949721574783325, -0.019262608140707016, 0.019262608140707016], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2937743663787842, 0.6155108213424683, 1.1949721574783325, -0.019351420924067497, 0.019351420924067497], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2937743663787842, 0.6174181699752808, 1.192301869392395, -0.019479811191558838, 0.019479811191558838], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2937743663787842, 0.6197070479393005, 1.192301869392395, -0.019697343930602074, 0.019697343930602074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2937743663787842, 0.6231403350830078, 1.192301869392395, -0.020113442093133926, 0.020113442093133926], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2937743663787842, 0.6239032745361328, 1.192301869392395, -0.020540371537208557, 0.020540371537208557], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3853284120559692, 0.9187838435173035, -1.2937743663787842, 0.6269550919532776, 1.1926833391189575, -0.021794728934764862, 0.021794728934764862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3853284120559692, 0.9187838435173035, -1.2937743663787842, 0.6273365616798401, 1.19306480884552, -0.021824628114700317, 0.021824628114700317], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3857098817825317, 0.9187838435173035, -1.2937743663787842, 0.6277180314064026, 1.1934462785720825, -0.02229299210011959, 0.02229299210011959], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3857098817825317, 0.9187838435173035, -1.2937743663787842, 0.6300068497657776, 1.1964980363845825, -0.022302955389022827, 0.022302955389022827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, 0.49191272258758545, -1.3857098817825317, 0.9187838435173035, -1.2937743663787842, 0.6300068497657776, 1.1964980363845825, -0.02350703440606594, 0.02350703440606594], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3857098817825317, 0.9187838435173035, -1.2941558361053467, 0.6300068497657776, 1.19611656665802, -0.02531423792243004, 0.02531423792243004], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3857098817825317, 0.9187838435173035, -1.2937743663787842, 0.6300068497657776, 1.19611656665802, -0.02762373350560665, 0.02762373350560665], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, 0.49191272258758545, -1.3857098817825317, 0.9187838435173035, -1.2937743663787842, 0.6292439103126526, 1.19611656665802, -0.029102222993969917, 0.029102222993969917], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3849469423294067, 0.9187838435173035, -1.2941558361053467, 0.6265735626220703, 1.1957350969314575, -0.03020964190363884, 0.03020964190363884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3818951845169067, 0.9187838435173035, -1.2941558361053467, 0.6219958662986755, 1.1957350969314575, -0.031325288116931915, 0.031325288116931915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, 0.49191272258758545, -1.3723583221435547, 0.9187838435173035, -1.2941558361053467, 0.6109330654144287, 1.195353627204895, -0.03231526538729668, 0.03231526538729668], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3544288873672485, 0.9203097820281982, -1.2937743663787842, 0.6036850810050964, 1.1949721574783325, -0.0335252583026886, 0.0335252583026886], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.3265812397003174, 0.9229800701141357, -1.2903410196304321, 0.5960555672645569, 1.1949721574783325, -0.033812712877988815, 0.033812712877988815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.2865263223648071, 0.924887478351593, -1.2827115058898926, 0.5964370369911194, 1.1949721574783325, -0.033812712877988815, 0.033812712877988815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05664911866188049, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.2323567867279053, 0.924887478351593, -1.2762264013290405, 0.6067368388175964, 1.192301869392395, -0.033812712877988815, 0.033812712877988815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.056267641484737396, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.1655985116958618, 0.924887478351593, -1.263256311416626, 0.6353475451469421, 1.192301869392395, -0.033812712877988815, 0.033812712877988815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.0551232174038887, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49191272258758545, -1.0927367210388184, 0.924887478351593, -1.2418936491012573, 0.6761654019355774, 1.192301869392395, -0.033812712877988815, 0.033812712877988815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.0551232174038887, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.49153125286102295, -1.0164415836334229, 0.919165313243866, -1.2212939262390137, 0.7185091972351074, 1.1926833391189575, -0.033812712877988815, 0.033812712877988815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.0551232174038887, -0.02231631986796856, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.482375830411911, -0.9344243407249451, 0.8997100591659546, -1.19153892993927, 0.7452124953269958, 1.192301869392395, -0.033812712877988815, 0.033812712877988815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.0551232174038887, -0.022697795182466507, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, 0.4533836841583252, -0.8516441583633423, 0.8669031858444214, -1.1560616493225098, 0.7631418108940125, 1.192301869392395, -0.033812712877988815, 0.033812712877988815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.053215838968753815, -0.023460745811462402, 1.6416800022125244, 0.11120012402534485, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.4056992530822754, -0.7749675512313843, 0.8287556171417236, -1.1175326108932495, 0.7776378989219666, 1.1926833391189575, -0.033812712877988815, 0.033812712877988815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.053215838968753815, -0.023460745811462402, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.3419928252696991, -0.7139315009117126, 0.7894636392593384, -1.0805294513702393, 0.8127336502075195, 1.1926833391189575, -0.0338050052523613, 0.0338050052523613], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.053215838968753815, -0.023460745811462402, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.27141985297203064, -0.6635767221450806, 0.7417792081832886, -1.045433759689331, 0.848210871219635, 1.1926833391189575, -0.0338050052523613, 0.0338050052523613], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.053215838968753815, -0.023460745811462402, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.21038375794887543, -0.622377336025238, 0.6906614899635315, -1.0141527652740479, 0.8760585784912109, 1.1926833391189575, -0.03379729017615318, 0.03379729017615318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.053215838968753815, -0.023460745811462402, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.16155488789081573, -0.5930037498474121, 0.6422140598297119, -0.9927901029586792, 0.8947508931159973, 1.1926833391189575, -0.03378957509994507, 0.03378957509994507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.053215838968753815, -0.023460745811462402, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.422883886145428e-05, 9.422883886145428e-05, 0.1333257108926773, -0.5796520709991455, 0.6048294901847839, -0.9821087718009949, 0.9046692848205566, 1.1926833391189575, -0.03367343544960022, 0.03367343544960022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05245288833975792, -0.023460745811462402, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.11692225188016891, -0.5766003131866455, 0.5727855563163757, -0.9744792580604553, 0.9096284508705139, 1.1926833391189575, -0.03364234045147896, 0.03364234045147896], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05245288833975792, -0.023460745811462402, 1.642061471939087, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.10662241280078888, -0.5842298269271851, 0.5514228940010071, -0.9706645011901855, 0.9077210426330566, 1.19306480884552, -0.03364234045147896, 0.03364234045147896], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.05245288833975792, -0.02384222112596035, 1.6416800022125244, 0.11120012402534485, -1.6718165874481201, -9.758010128280148e-05, 9.758010128280148e-05, 0.09174486994743347, -0.6013962030410767, 0.536163866519928, -0.967231273651123, 0.8958953022956848, 1.1926833391189575, -0.03363455832004547, 0.03363455832004547], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.054741740226745605, -0.023460745811462402, 1.642061471939087, 0.11120012402534485, -1.6714351177215576, -9.422883886145428e-05, 9.422883886145428e-05, 0.06198977679014206, -0.6231403350830078, 0.5281528830528259, -0.967231273651123, 0.8836880922317505, 1.1926833391189575, -0.03363455832004547, 0.03363455832004547], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.057793546468019485, -0.01583123579621315, 1.642061471939087, 0.10700388997793198, -1.6714351177215576, -9.758010128280148e-05, 9.758010128280148e-05, 0.023460745811462402, -0.6380178332328796, 0.5247195959091187, -0.9664682745933533, 0.8779659867286682, 1.1926833391189575, -0.03363455832004547, 0.03363455832004547], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.06618601083755493, 0.023079270496964455, 1.6416800022125244, 0.06771191209554672, -1.6687648296356201, -9.758010128280148e-05, 9.758010128280148e-05, -0.024986648932099342, -0.6456473469734192, 0.5258640646934509, -0.9641794562339783, 0.8707179427146912, 1.192301869392395, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8955138325691223, -0.09403372555971146, 0.10662241280078888, 1.6416800022125244, -0.018120087683200836, -1.6683833599090576, -9.422883886145428e-05, 9.422883886145428e-05, -0.07610437273979187, -0.6532768607139587, 0.533875048160553, -0.9626535177230835, 0.8646143078804016, 1.188868522644043, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8794918656349182, -0.15888457000255585, 0.22602425515651703, 1.6416800022125244, -0.1371404528617859, -1.6687648296356201, -9.758010128280148e-05, 9.758010128280148e-05, -0.1180666834115982, -0.6658655405044556, 0.54417484998703, -0.9603646993637085, 0.8588922023773193, 1.184290885925293, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8344777822494507, -0.27027541399002075, 0.38052186369895935, 1.6416800022125244, -0.2927824854850769, -1.7015717029571533, -9.422883886145428e-05, 9.422883886145428e-05, -0.1504921019077301, -0.6792172193527222, 0.5514228940010071, -0.9596017599105835, 0.8440146446228027, 1.180857539176941, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7818341255187988, -0.4171435236930847, 0.5468451976776123, 1.6416800022125244, -0.4659723937511444, -1.737811803817749, -9.758010128280148e-05, 9.758010128280148e-05, -0.1836804747581482, -0.7043945789337158, 0.5579079985618591, -0.9340428709983826, 0.8257037997245789, 1.1728465557098389, -0.03356437012553215, 0.03356437012553215], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7364385724067688, -0.5960555672645569, 0.7162203192710876, 1.6416800022125244, -0.6342030763626099, -1.7725261449813843, -9.758010128280148e-05, 9.758010128280148e-05, -0.24204623699188232, -0.7555122971534729, 0.5636301040649414, -0.8169298768043518, 0.838674008846283, 1.0946440696716309, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7101167440414429, -0.8039597272872925, 0.8947508931159973, 1.6416800022125244, -0.80357825756073, -1.793888807296753, -9.758010128280148e-05, 9.758010128280148e-05, -0.31872281432151794, -0.8535515666007996, 0.5743114352226257, -0.6174181699752808, 0.9363317489624023, 0.9691386222839355, -0.03356437012553215, 0.03356437012553215], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -1.02521550655365, 1.0728999376296997, 1.641298532485962, -0.9931715726852417, -1.796177625656128, -9.758010128280148e-05, 9.758010128280148e-05, -0.36755168437957764, -0.9699015617370605, 0.5994887948036194, -0.4560540020465851, 1.0645074844360352, 0.8722438216209412, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6883726119995117, -1.2178606986999512, 1.2190051078796387, 1.641298532485962, -1.1575875282287598, -1.7919813394546509, -9.758010128280148e-05, 9.758010128280148e-05, -0.39883267879486084, -1.0614557266235352, 0.6219958662986755, -0.36449989676475525, 1.1690318584442139, 0.8081559538841248, -0.0335799902677536, 0.0335799902677536], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6841763854026794, -1.3551918268203735, 1.3200961351394653, 1.6409170627593994, -1.2579156160354614, -1.793888807296753, -9.758010128280148e-05, 9.758010128280148e-05, -0.44270238280296326, -1.116388201713562, 0.6349660754203796, -0.3126192092895508, 1.2384604215621948, 0.7631418108940125, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6826505064964294, -1.4444571733474731, 1.3860913515090942, 1.6393911838531494, -1.3132295608520508, -1.8156328201293945, -9.758010128280148e-05, 9.758010128280148e-05, -0.49153125286102295, -1.1449989080429077, 0.6414511203765869, -0.2821011543273926, 1.2869077920913696, 0.7360570430755615, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6818875670433044, -1.504348874092102, 1.4333943128585815, 1.638246774673462, -1.342984676361084, -1.8522545099258423, -9.758010128280148e-05, 9.758010128280148e-05, -0.5220493078231812, -1.1598763465881348, 0.6448844075202942, -0.2637903392314911, 1.3155183792114258, 0.7223239541053772, -0.0335799902677536, 0.0335799902677536], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6773098111152649, -1.5455482006072998, 1.4738308191299438, 1.6092545986175537, -1.3586251735687256, -1.8842984437942505, -9.758010128280148e-05, 9.758010128280148e-05, -0.536926805973053, -1.1697947978973389, 0.6460288166999817, -0.25272753834724426, 1.3311588764190674, 0.7116426229476929, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6704432964324951, -1.5722514390945435, 1.4990081787109375, 1.5310521125793457, -1.3624398708343506, -1.894216775894165, -9.758010128280148e-05, 9.758010128280148e-05, -0.5464637279510498, -1.1743724346160889, 0.6437399983406067, -0.2481498420238495, 1.336499571800232, 0.7082093358039856, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6715877056121826, -1.5875104665756226, 1.513885736465454, 1.5127413272857666, -1.357480764389038, -1.9018462896347046, -9.758010128280148e-05, 9.758010128280148e-05, -0.5495155453681946, -1.1751353740692139, 0.6422140598297119, -0.24319066107273102, 1.3410773277282715, 0.7047760486602783, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6708247661590576, -1.595139980316162, 1.5196079015731812, 1.5321965217590332, -1.356717824935913, -1.9110018014907837, -9.758010128280148e-05, 9.758010128280148e-05, -0.5518043637275696, -1.1747539043426514, 0.6406881809234619, -0.24204623699188232, 1.3433661460876465, 0.7017242908477783, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6673914790153503, -1.6000992059707642, 1.5203708410263062, 1.5428777933120728, -1.356717824935913, -1.9167238473892212, -9.758010128280148e-05, 9.758010128280148e-05, -0.5537117719650269, -1.1747539043426514, 0.6395437717437744, -0.24052032828330994, 1.3433661460876465, 0.7013428211212158, -0.0335799902677536, 0.0335799902677536], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6651026010513306, -1.6046768426895142, 1.519226312637329, 1.5466926097869873, -1.3551918268203735, -1.9171053171157837, -9.758010128280148e-05, 9.758010128280148e-05, -0.5533303022384644, -1.1751353740692139, 0.6391623020172119, -0.23937590420246124, 1.3433661460876465, 0.7013428211212158, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6647211313247681, -1.6096360683441162, 1.516937494277954, 1.5505073070526123, -1.349469780921936, -1.9167238473892212, -0.0075998203828930855, 0.0075998203828930855, -0.5533303022384644, -1.176279902458191, 0.6383993029594421, -0.23937590420246124, 1.342984676361084, 0.7013428211212158, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6647211313247681, -1.6138323545455933, 1.5115967988967896, 1.5524147748947144, -1.3403143882751465, -1.9151979684829712, -0.018937475979328156, 0.018937475979328156, -0.5533303022384644, -1.176279902458191, 0.6380178332328796, -0.23899443447589874, 1.342984676361084, 0.7009612917900085, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6647211313247681, -1.6165026426315308, 1.5020599365234375, 1.5535591840744019, -1.3258183002471924, -1.9056611061096191, -0.02492135390639305, 0.02492135390639305, -0.5529488325119019, -1.176279902458191, 0.6372548937797546, -0.23899443447589874, 1.3418402671813965, 0.7009612917900085, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6647211313247681, -1.6222248077392578, 1.4940489530563354, 1.5539406538009644, -1.3101778030395508, -1.9003204107284546, -0.026907164603471756, 0.026907164603471756, -0.5521858334541321, -1.176279902458191, 0.6357290148735046, -0.23937590420246124, 1.3403143882751465, 0.700579822063446, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6647211313247681, -1.6298543214797974, 1.489852786064148, 1.5539406538009644, -1.2960631847381592, -1.896887183189392, -0.026926381513476372, 0.026926381513476372, -0.5510414242744446, -1.176279902458191, 0.6345845460891724, -0.23937590420246124, 1.3384069204330444, 0.700579822063446, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6651026010513306, -1.639009714126587, 1.487945318222046, 1.5455482006072998, -1.2811856269836426, -1.892690896987915, -0.026926381513476372, 0.026926381513476372, -0.5510414242744446, -1.1758984327316284, 0.6338216066360474, -0.23937590420246124, 1.337262511253357, 0.700579822063446, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6654840707778931, -1.649309515953064, 1.4875638484954834, 1.5264743566513062, -1.2644007205963135, -1.886205792427063, -0.026926381513476372, 0.026926381513476372, -0.5510414242744446, -1.1758984327316284, 0.6322957277297974, -0.24013885855674744, 1.333447813987732, 0.700579822063446, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6677729487419128, -1.659609317779541, 1.4875638484954834, 1.516174554824829, -1.2476158142089844, -1.881628155708313, -0.026926381513476372, 0.026926381513476372, -0.5510414242744446, -1.1755168437957764, 0.6319142580032349, -0.24242770671844482, 1.3292515277862549, 0.700579822063446, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6677729487419128, -1.6710536479949951, 1.488326907157898, 1.508926510810852, -1.2354085445404053, -1.8770503997802734, -0.026974396780133247, 0.026974396780133247, -0.5514228940010071, -1.1755168437957764, 0.6315327882766724, -0.24280919134616852, 1.3261997699737549, 0.700579822063446, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6677729487419128, -1.6828793287277222, 1.4887083768844604, 1.506637692451477, -1.2281605005264282, -1.874380111694336, -0.027022376656532288, 0.027022376656532288, -0.5510414242744446, -1.1758984327316284, 0.6315327882766724, -0.2462424635887146, 1.3227664232254028, 0.700579822063446, -0.0335799902677536, 0.0335799902677536], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6677729487419128, -1.6950865983963013, 1.4887083768844604, 1.5047303438186646, -1.2243458032608032, -1.872091293334961, -0.027012784034013748, 0.027012784034013748, -0.5510414242744446, -1.176279902458191, 0.6315327882766724, -0.25158312916755676, 1.3155183792114258, 0.7001983523368835, -0.033572182059288025, 0.033572182059288025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6673914790153503, -1.7046234607696533, 1.4887083768844604, 1.5039674043655396, -1.2209124565124512, -1.8705652952194214, -0.02699359320104122, 0.02699359320104122, -0.5510414242744446, -1.177805781364441, 0.6315327882766724, -0.2595941126346588, 1.3078888654708862, 0.7001983523368835, -0.0335799902677536, 0.0335799902677536], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6654840707778931, -1.7095826864242554, 1.487945318222046, 1.5020599365234375, -1.2174792289733887, -1.8701838254928589, -0.026983996853232384, 0.026983996853232384, -0.5510414242744446, -1.1812390089035034, 0.6315327882766724, -0.27180132269859314, 1.3017853498458862, 0.700579822063446, -0.0335799902677536, 0.0335799902677536], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6651026010513306, -1.7122529745101929, 1.4875638484954834, 1.501678466796875, -1.2148088216781616, -1.8690394163131714, -0.026983996853232384, 0.026983996853232384, -0.5510414242744446, -1.187342643737793, 0.6319142580032349, -0.28477150201797485, 1.2994964122772217, 0.700579822063446, -0.0335799902677536, 0.0335799902677536], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.7141603231430054, 1.4868009090423584, 1.501678466796875, -1.2117570638656616, -1.8675135374069214, -0.026983996853232384, 0.026983996853232384, -0.5502784848213196, -1.1987868547439575, 0.6403067111968994, -0.2973601818084717, 1.2975890636444092, 0.7013428211212158, -0.03358779475092888, 0.03358779475092888], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6620507836341858, -1.71492338180542, 1.4868009090423584, 1.5020599365234375, -1.2071794271469116, -1.8675135374069214, -0.026983996853232384, 0.026983996853232384, -0.5502784848213196, -1.2182421684265137, 0.657473087310791, -0.31872281432151794, 1.3090333938598633, 0.7047760486602783, -0.03368120267987251, 0.03368120267987251], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6593804955482483, -1.71492338180542, 1.4845120906829834, 1.501678466796875, -1.2052719593048096, -1.8659876585006714, -0.026983996853232384, 0.026983996853232384, -0.5502784848213196, -1.2403677701950073, 0.6815060377120972, -0.3572518527507782, 1.3235293626785278, 0.7272831201553345, -0.03374321013689041, 0.03374321013689041], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -1.71492338180542, 1.483367681503296, 1.5020599365234375, -1.203364610671997, -1.8629357814788818, -0.026983996853232384, 0.026983996853232384, -0.5502784848213196, -1.2621119022369385, 0.7066834568977356, -0.4072251319885254, 1.3303959369659424, 0.7600900530815125, -0.03374321013689041, 0.03374321013689041], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6540398001670837, -1.7153048515319824, 1.4814603328704834, 1.5020599365234375, -1.202601671218872, -1.8595025539398193, -0.026983996853232384, 0.026983996853232384, -0.5502784848213196, -1.2819485664367676, 0.7230868935585022, -0.44384679198265076, 1.3311588764190674, 0.7810711860656738, -0.03375094756484032, 0.03375094756484032], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6506065726280212, -1.71492338180542, 1.4791713953018188, 1.501678466796875, -1.202601671218872, -1.8553062677383423, -0.026983996853232384, 0.026983996853232384, -0.5502784848213196, -1.3040741682052612, 0.7314793467521667, -0.465209424495697, 1.3319218158721924, 0.7967116832733154, -0.03375094756484032, 0.03375094756484032], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.647173285484314, -1.71492338180542, 1.4742122888565063, 1.501678466796875, -1.2022202014923096, -1.8507286310195923, -0.026983996853232384, 0.026983996853232384, -0.5491340756416321, -1.3273441791534424, 0.7360570430755615, -0.47665369510650635, 1.3311588764190674, 0.80357825756073, -0.03375094756484032, 0.03375094756484032], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -1.7133973836898804, 1.4696345329284668, 1.501678466796875, -1.2006943225860596, -1.8476768732070923, -0.026983996853232384, 0.026983996853232384, -0.5395971536636353, -1.348706841468811, 0.7379644513130188, -0.4842832088470459, 1.3273441791534424, 0.8077744841575623, -0.03375094756484032, 0.03375094756484032], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6383993029594421, -1.7122529745101929, 1.4658198356628418, 1.5020599365234375, -1.1987868547439575, -1.8450064659118652, -0.026983996853232384, 0.026983996853232384, -0.5205233693122864, -1.3666361570358276, 0.7398717999458313, -0.49038681387901306, 1.3193331956863403, 0.8112077713012695, -0.03375094756484032, 0.03375094756484032], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6357290148735046, -1.7118715047836304, 1.4627679586410522, 1.501678466796875, -1.1987868547439575, -1.8446249961853027, -0.026907164603471756, 0.026907164603471756, -0.5006866455078125, -1.3841840028762817, 0.7406347990036011, -0.49458304047584534, 1.3010224103927612, 0.8112077713012695, -0.03375094756484032, 0.03375094756484032], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6349660754203796, -1.7114900350570679, 1.4604791402816772, 1.5020599365234375, -1.1980239152908325, -1.8442435264587402, -0.02686871588230133, 0.02686871588230133, -0.4842832088470459, -1.3982986211776733, 0.7406347990036011, -0.4983977973461151, 1.2788968086242676, 0.8112077713012695, -0.033735472708940506, 0.033735472708940506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7114900350570679, 1.4578088521957397, 1.501678466796875, -1.19153892993927, -1.8442435264587402, -0.026017459109425545, 0.026017459109425545, -0.4701686203479767, -1.4078354835510254, 0.7417792081832886, -0.4983977973461151, 1.2563897371292114, 0.8112077713012695, -0.0337199829518795, 0.0337199829518795], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7114900350570679, 1.4547569751739502, 1.501678466796875, -1.187342643737793, -1.8446249961853027, -0.026017459109425545, 0.026017459109425545, -0.46177613735198975, -1.4135576486587524, 0.7440680265426636, -0.4983977973461151, 1.2380788326263428, 0.8112077713012695, -0.03363455832004547, 0.03363455832004547], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7118715047836304, 1.4536125659942627, 1.501678466796875, -1.1835278272628784, -1.8446249961853027, -0.026017459109425545, 0.026017459109425545, -0.4491874575614929, -1.420424222946167, 0.7494087219238281, -0.4980163276195526, 1.2266346216201782, 0.8112077713012695, -0.03355655074119568, 0.03355655074119568], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7122529745101929, 1.4524681568145752, 1.501678466796875, -1.181620478630066, -1.8446249961853027, -0.026017459109425545, 0.026017459109425545, -0.42935073375701904, -1.429198145866394, 0.7566567659378052, -0.4980163276195526, 1.2170977592468262, 0.8112077713012695, -0.03253815323114395, 0.03253815323114395], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7122529745101929, 1.4513237476348877, 1.5020599365234375, -1.180094599723816, -1.8457694053649902, -0.026017459109425545, 0.026017459109425545, -0.4056992530822754, -1.4406423568725586, 0.7661936283111572, -0.4964904189109802, 1.2098497152328491, 0.8112077713012695, -0.03201476112008095, 0.03201476112008095], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7122529745101929, 1.4505608081817627, 1.501678466796875, -1.1797131299972534, -1.8480583429336548, -0.026017459109425545, 0.026017459109425545, -0.38319218158721924, -1.4509422779083252, 0.7749675512313843, -0.49458304047584534, 1.2014572620391846, 0.811589241027832, -0.031212974339723587, 0.031212974339723587], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7122529745101929, 1.4505608081817627, 1.501678466796875, -1.179331660270691, -1.8480583429336548, -0.02592986449599266, 0.02592986449599266, -0.36602577567100525, -1.4589532613754272, 0.7818341255187988, -0.49382010102272034, 1.1926833391189575, 0.8119707107543945, -0.03066249191761017, 0.03066249191761017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7122529745101929, 1.4505608081817627, 1.5012969970703125, -1.176279902458191, -1.8495842218399048, -0.024240558966994286, 0.024240558966994286, -0.3568703830242157, -1.4635308980941772, 0.7860303521156311, -0.49114975333213806, 1.1839094161987305, 0.8142595291137695, -0.028508875519037247, 0.028508875519037247], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7126344442367554, 1.4505608081817627, 1.50091552734375, -1.1713206768035889, -1.8560693264007568, -0.02367580123245716, 0.02367580123245716, -0.35076677799224854, -1.4669642448425293, 0.7890821695327759, -0.49038681387901306, 1.176279902458191, 0.8142595291137695, -0.02743348851799965, 0.02743348851799965], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7133973836898804, 1.4505608081817627, 1.5012969970703125, -1.1682689189910889, -1.8572137355804443, -0.02351696416735649, 0.02351696416735649, -0.34695202112197876, -1.4692530632019043, 0.7902265787124634, -0.4892423748970032, 1.1713206768035889, 0.8142595291137695, -0.02743348851799965, 0.02743348851799965], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7141603231430054, 1.4505608081817627, 1.5012969970703125, -1.1640726327896118, -1.8602654933929443, -0.02350703440606594, 0.02350703440606594, -0.3442816734313965, -1.4700160026550293, 0.7909895181655884, -0.4884794354438782, 1.1655985116958618, 0.8142595291137695, -0.02743348851799965, 0.02743348851799965], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.71492338180542, 1.4505608081817627, 1.5012969970703125, -1.1606394052505493, -1.8633173704147339, -0.0228606965392828, 0.0228606965392828, -0.3435187339782715, -1.4707789421081543, 0.7909895181655884, -0.4869535267353058, 1.1621652841567993, 0.813878059387207, -0.027423959225416183, 0.027423959225416183], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7153048515319824, 1.4505608081817627, 1.5005340576171875, -1.1575875282287598, -1.8633173704147339, -0.020798878744244576, 0.020798878744244576, -0.3416113555431366, -1.4711604118347168, 0.7909895181655884, -0.4869535267353058, 1.1572060585021973, 0.8142595291137695, -0.026269981637597084, 0.026269981637597084], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -1.7160677909851074, 1.4505608081817627, 1.4990081787109375, -1.1560616493225098, -1.872091293334961, -0.017987318336963654, 0.017987318336963654, -0.3385595381259918, -1.4715418815612793, 0.7909895181655884, -0.4869535267353058, 1.1533913612365723, 0.813878059387207, -0.018839124590158463, 0.018839124590158463], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6330586671829224, -1.717212200164795, 1.4505608081817627, 1.500152587890625, -1.1533913612365723, -1.8739986419677734, -0.017105020582675934, 0.017105020582675934, -0.33588922023773193, -1.4715418815612793, 0.7913710474967957, -0.4873350262641907, 1.1507209539413452, 0.813878059387207, -0.011689936742186546, 0.011689936742186546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6330586671829224, -1.717212200164795, 1.4501793384552002, 1.5005340576171875, -1.1526284217834473, -1.8739986419677734, -0.017105020582675934, 0.017105020582675934, -0.33283740282058716, -1.4715418815612793, 0.7913710474967957, -0.4869535267353058, 1.1469062566757202, 0.813878059387207, -0.011689936742186546, 0.011689936742186546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6330586671829224, -1.717212200164795, 1.4486533403396606, 1.50091552734375, -1.1503394842147827, -1.8747615814208984, -0.017105020582675934, 0.017105020582675934, -0.33131152391433716, -1.4711604118347168, 0.7913710474967957, -0.4861905872821808, 1.1388952732086182, 0.813878059387207, -0.011689936742186546, 0.011689936742186546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6330586671829224, -1.717212200164795, 1.4482718706130981, 1.5012969970703125, -1.1499580144882202, -1.879339337348938, -0.017105020582675934, 0.017105020582675934, -0.33054855465888977, -1.4711604118347168, 0.7913710474967957, -0.47512778639793396, 1.1255435943603516, 0.813878059387207, -0.011689936742186546, 0.011689936742186546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6326771974563599, -1.7153048515319824, 1.4482718706130981, 1.501678466796875, -1.1495765447616577, -1.8827725648880005, -0.017105020582675934, 0.017105020582675934, -0.3286411762237549, -1.4703974723815918, 0.7909895181655884, -0.4560540020465851, 1.1160067319869995, 0.813878059387207, -0.011689936742186546, 0.011689936742186546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6326771974563599, -1.7107270956039429, 1.4528496265411377, 1.5020599365234375, -1.1503394842147827, -1.886205792427063, -0.017124302685260773, 0.017124302685260773, -0.3286411762237549, -1.4658198356628418, 0.7902265787124634, -0.4331654906272888, 1.1095216274261475, 0.813115119934082, -0.01168142631649971, 0.01168142631649971], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6319142580032349, -1.7065308094024658, 1.4700160026550293, 1.505874752998352, -1.1732280254364014, -1.8865872621536255, -0.01713394746184349, 0.01713394746184349, -0.3290226459503174, -1.4566643238067627, 0.7902265787124634, -0.4037918746471405, 1.1198214292526245, 0.810826301574707, -0.011689936742186546, 0.011689936742186546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6288624405860901, -1.7023346424102783, 1.497100830078125, 1.5093079805374146, -1.204890489578247, -1.8827725648880005, -0.01713394746184349, 0.01713394746184349, -0.3290226459503174, -1.4444571733474731, 0.7902265787124634, -0.36526283621788025, 1.1366063356399536, 0.810826301574707, -0.011689936742186546, 0.011689936742186546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6235218048095703, -1.6992828845977783, 1.5264743566513062, 1.5085450410842896, -1.2407492399215698, -1.873617172241211, -0.01717253401875496, 0.01717253401875496, -0.325970858335495, -1.4265278577804565, 0.7906080484390259, -0.3282597064971924, 1.1568245887756348, 0.8142595291137695, -0.011775177903473377, 0.011775177903473377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6109330654144287, -1.6935607194900513, 1.5554665327072144, 1.5093079805374146, -1.2804226875305176, -1.8564507961273193, -0.01721114106476307, 0.01721114106476307, -0.308804452419281, -1.405928134918213, 0.7909895181655884, -0.30193790793418884, 1.1690318584442139, 0.8287556171417236, -0.011852100491523743, 0.011852100491523743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5895704627037048, -1.6844053268432617, 1.5749218463897705, 1.5093079805374146, -1.3258183002471924, -1.8366140127182007, -0.01721114106476307, 0.01721114106476307, -0.2775234580039978, -1.3914320468902588, 0.7921339869499207, -0.28629741072654724, 1.177042841911316, 0.8493552803993225, -0.011946378275752068, 0.011946378275752068], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5579079985618591, -1.6718165874481201, 1.583314299583435, 1.508926510810852, -1.3693064451217651, -1.814488410949707, -0.017047204077243805, 0.017047204077243805, -0.2283131182193756, -1.3818951845169067, 0.7944228053092957, -0.2786678969860077, 1.1751353740692139, 0.8707179427146912, -0.011954963207244873, 0.011954963207244873], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5193789601325989, -1.647020697593689, 1.5749218463897705, 1.508926510810852, -1.4040207862854004, -1.7927442789077759, -0.01651945896446705, 0.01651945896446705, -0.16308079659938812, -1.3765544891357422, 0.8020523190498352, -0.27141985297203064, 1.1594948768615723, 0.8951323628425598, -0.011954963207244873, 0.011954963207244873], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4728389382362366, -1.6149767637252808, 1.5432593822479248, 1.5093079805374146, -1.4288166761398315, -1.7683298587799072, -0.015910837799310684, 0.015910837799310684, -0.08602273464202881, -1.3780803680419922, 0.8196002244949341, -0.27103838324546814, 1.1346989870071411, 0.925650417804718, -0.011954963207244873, 0.011954963207244873], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41561761498451233, -1.575303316116333, 1.495956301689148, 1.5062562227249146, -1.4368276596069336, -1.7454413175582886, -0.015402310527861118, 0.015402310527861118, -0.004386968910694122, -1.3906691074371338, 0.8508812189102173, -0.266460657119751, 1.1095216274261475, 0.959220290184021, -0.011954963207244873, 0.011954963207244873], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34618905186653137, -1.5341038703918457, 1.4414052963256836, 1.505111813545227, -1.440260887145996, -1.7191195487976074, -0.014575103297829628, 0.014575103297829628, 0.07763027399778366, -1.415464997291565, 0.8936064839363098, -0.26722362637519836, 1.0877774953842163, 0.9924086332321167, -0.011954963207244873, 0.011954963207244873], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2626459002494812, -1.495193362236023, 1.3838025331497192, 1.496337890625, -1.439497947692871, -1.6851682662963867, -0.01418067142367363, 0.01418067142367363, 0.15430685877799988, -1.4509422779083252, 0.9451056718826294, -0.2660791873931885, 1.0652704238891602, 1.0255969762802124, -0.011954963207244873, 0.011954963207244873], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17643244564533234, -1.4650568962097168, 1.3368810415267944, 1.489089846611023, -1.434920310974121, -1.6531243324279785, -0.013989347964525223, 0.013989347964525223, 0.22259098291397095, -1.494430422782898, 1.0034713745117188, -0.2637903392314911, 1.047722578048706, 1.055733561515808, -0.011954963207244873, 0.011954963207244873], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07991912961006165, -1.4406423568725586, 1.2983520030975342, 1.4845120906829834, -1.423475980758667, -1.6248950958251953, -0.01398025918751955, 0.01398025918751955, 0.28286412358283997, -1.5455482006072998, 1.0660333633422852, -0.2603570520877838, 1.0370413064956665, 1.0866330862045288, -0.012040942907333374, 0.012040942907333374], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.012397955171763897, -1.426909327507019, 1.273556113243103, 1.4787899255752563, -1.4085984230041504, -1.5924696922302246, -0.013907619751989841, 0.013907619751989841, 0.3370336592197418, -1.5989547967910767, 1.1285953521728516, -0.2569237947463989, 1.029411792755127, 1.1118104457855225, -0.012187648564577103, 0.012187648564577103], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09937438368797302, -1.421187162399292, 1.259060025215149, 1.4795528650283813, -1.3864728212356567, -1.568055272102356, -0.013907619751989841, 0.013907619751989841, 0.3866254687309265, -1.653505802154541, 1.189631462097168, -0.25539788603782654, 1.0236896276474, 1.1305028200149536, -0.012196298688650131, 0.012196298688650131], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.17605096101760864, -1.4192798137664795, 1.2434195280075073, 1.481078863143921, -1.3601510524749756, -1.5436408519744873, -0.01404392160475254, 0.01404392160475254, 0.43125811219215393, -1.7103456258773804, 1.2537193298339844, -0.25196459889411926, 1.0099564790725708, 1.1423285007476807, -0.012274260632693768, 0.012274260632693768], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23403525352478027, -1.422713041305542, 1.2277790307998657, 1.4875638484954834, -1.3231478929519653, -1.516174554824829, -0.014667334035038948, 0.014667334035038948, 0.4724574685096741, -1.7652781009674072, 1.3162813186645508, -0.25387197732925415, 1.0049973726272583, 1.1537728309631348, -0.012282934039831161, 0.012282934039831161], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2759975492954254, -1.4326313734054565, 1.2174792289733887, 1.501678466796875, -1.2865263223648071, -1.492904543876648, -0.015149875544011593, 0.015149875544011593, 0.5098420977592468, -1.8175402879714966, 1.3750286102294922, -0.2603570520877838, 1.0030899047851562, 1.1583504676818848, -0.012282934039831161, 0.012282934039831161], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.30308231711387634, -1.4429312944412231, 1.2109941244125366, 1.503204345703125, -1.2468528747558594, -1.4791713953018188, -0.015590095892548561, 0.015590095892548561, 0.5395971536636353, -1.8636988401412964, 1.425764799118042, -0.2618829607963562, 0.994316041469574, 1.1594948768615723, -0.012282934039831161, 0.012282934039831161], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.32024872303009033, -1.4539940357208252, 1.2075608968734741, 1.511215329170227, -1.2174792289733887, -1.4593347311019897, -0.015816308557987213, 0.015816308557987213, 0.5628671646118164, -1.902227759361267, 1.4658198356628418, -0.264934778213501, 0.9916456937789917, 1.1633096933364868, -0.012282934039831161, 0.012282934039831161], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.33054855465888977, -1.4662013053894043, 1.2052719593048096, 1.5127413272857666, -1.1877241134643555, -1.4494163990020752, -0.01621437817811966, 0.01621437817811966, 0.577744722366333, -1.9361791610717773, 1.4982452392578125, -0.26798656582832336, 0.9882124066352844, 1.1663614511489868, -0.012282934039831161, 0.012282934039831161], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.33627068996429443, -1.4768825769424438, 1.200312852859497, 1.509689450263977, -1.1655985116958618, -1.4448386430740356, -0.01621437817811966, 0.01621437817811966, 0.5834668278694153, -1.965552806854248, 1.5249484777450562, -0.26798656582832336, 0.9851605892181396, 1.1663614511489868, -0.012274260632693768, 0.012274260632693768], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3397039771080017, -1.4829862117767334, 1.188105583190918, 1.510452389717102, -1.1449989080429077, -1.4436942338943481, -0.016204867511987686, 0.016204867511987686, 0.5880445837974548, -1.9911116361618042, 1.5505073070526123, -0.26951247453689575, 0.9851605892181396, 1.1667429208755493, -0.012274260632693768, 0.012274260632693768], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3412298858165741, -1.485656499862671, 1.1743724346160889, 1.513122797012329, -1.1263065338134766, -1.4444571733474731, -0.016204867511987686, 0.016204867511987686, 0.5907148718833923, -2.0098040103912354, 1.5737773180007935, -0.26989394426345825, 0.9882124066352844, 1.1709392070770264, -0.012265589088201523, 0.012265589088201523], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3423742949962616, -1.486419439315796, 1.1625467538833618, 1.5127413272857666, -1.1144808530807495, -1.4475089311599731, -0.016185853630304337, 0.016185853630304337, 0.5914778113365173, -2.023918628692627, 1.592088222503662, -0.26951247453689575, 0.9905012845993042, 1.1717021465301514, -0.012265589088201523, 0.012265589088201523], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3427557647228241, -1.486419439315796, 1.1530098915100098, 1.5119783878326416, -1.10685133934021, -1.4505608081817627, -0.016128847375512123, 0.016128847375512123, 0.5922408103942871, -2.032310962677002, 1.6046768426895142, -0.26913100481033325, 0.9893568158149719, 1.1713206768035889, -0.012265589088201523, 0.012265589088201523], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.343137264251709, -1.484893560409546, 1.1461433172225952, 1.508163571357727, -1.1022735834121704, -1.4509422779083252, -0.016109857708215714, 0.016109857708215714, 0.5926222801208496, -2.037651538848877, 1.6123063564300537, -0.26874953508377075, 0.9859235286712646, 1.1705577373504639, -0.012265589088201523, 0.012265589088201523], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.343137264251709, -1.4829862117767334, 1.1411840915679932, 1.5062562227249146, -1.098077416419983, -1.4513237476348877, -0.016100365668535233, 0.016100365668535233, 0.5926222801208496, -2.0395591259002686, 1.6165026426315308, -0.26836803555488586, 0.9851605892181396, 1.1701762676239014, -0.012265589088201523, 0.012265589088201523], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.343137264251709, -1.4806973934173584, 1.1358433961868286, 1.505874752998352, -1.0957884788513184, -1.4520866870880127, -0.016024479642510414, 0.016024479642510414, 0.5926222801208496, -2.0410850048065186, 1.6184099912643433, -0.26722362637519836, 0.9840161800384521, 1.1697947978973389, -0.012274260632693768, 0.012274260632693768], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.343137264251709, -1.4780269861221313, 1.1305028200149536, 1.505111813545227, -1.0927367210388184, -1.4581903219223022, -0.016024479642510414, 0.016024479642510414, 0.5926222801208496, -2.0418479442596436, 1.6195544004440308, -0.265697717666626, 0.9847791194915771, 1.1652170419692993, -0.013546374626457691, 0.013546374626457691], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.343137264251709, -1.4745937585830688, 1.1247806549072266, 1.504348874092102, -1.0908293724060059, -1.4604791402816772, -0.016024479642510414, 0.016024479642510414, 0.5926222801208496, -2.041466474533081, 1.6203173398971558, -0.264934778213501, 0.9874494671821594, 1.1652170419692993, -0.015674816444516182, 0.015674816444516182], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.343137264251709, -1.4707789421081543, 1.1198214292526245, 1.5020599365234375, -1.0938811302185059, -1.4650568962097168, -0.01626194827258587, 0.01626194827258587, 0.5926222801208496, -2.038414478302002, 1.6203173398971558, -0.264934778213501, 0.9977492690086365, 1.1655985116958618, -0.017385121434926987, 0.017385121434926987], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.343137264251709, -1.4681086540222168, 1.115625262260437, 1.50091552734375, -1.100366234779358, -1.4677271842956543, -0.017095381394028664, 0.017095381394028664, 0.5926222801208496, -2.037651538848877, 1.6203173398971558, -0.265697717666626, 1.0122454166412354, 1.1659799814224243, -0.01919357106089592, 0.01919357106089592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3435187339782715, -1.4654383659362793, 1.1137179136276245, 1.4990081787109375, -1.1053253412246704, -1.4696345329284668, -0.018760502338409424, 0.018760502338409424, 0.5918593406677246, -2.0365071296691895, 1.6203173398971558, -0.265697717666626, 1.024452567100525, 1.1659799814224243, -0.022004004567861557, 0.022004004567861557], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.34657052159309387, -1.4623864889144897, 1.1125733852386475, 1.49786376953125, -1.1057069301605225, -1.4696345329284668, -0.019598428159952164, 0.019598428159952164, 0.5895704627037048, -2.035362720489502, 1.6203173398971558, -0.264934778213501, 1.033989429473877, 1.1663614511489868, -0.024250449612736702, 0.024250449612736702], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.35076677799224854, -1.4581903219223022, 1.112191915512085, 1.4967193603515625, -1.1118104457855225, -1.4707789421081543, -0.022591853514313698, 0.022591853514313698, 0.5869001150131226, -2.0326924324035645, 1.6203173398971558, -0.2645532786846161, 1.041237473487854, 1.1663614511489868, -0.026299068704247475, 0.026299068704247475], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3595407009124756, -1.4543755054473877, 1.112191915512085, 1.498626708984375, -1.1087586879730225, -1.4738308191299438, -0.023665878921747208, 0.023665878921747208, 0.5796520709991455, -2.030022144317627, 1.6203173398971558, -0.2637903392314911, 1.050011396408081, 1.1667429208755493, -0.027765994891524315, 0.027765994891524315], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.36602577567100525, -1.4513237476348877, 1.1110475063323975, 1.501678466796875, -1.1079957485198975, -1.4776455163955688, -0.025333844125270844, 0.025333844125270844, 0.572022557258606, -2.028496265411377, 1.6203173398971558, -0.2641718089580536, 1.0576409101486206, 1.1671243906021118, -0.02970537729561329, 0.02970537729561329], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3717479109764099, -1.4486533403396606, 1.110666036605835, 1.5012969970703125, -1.1053253412246704, -1.4780269861221313, -0.026231184601783752, 0.026231184601783752, 0.5632486343383789, -2.0265889167785645, 1.6206988096237183, -0.2645532786846161, 1.0702296495437622, 1.1671243906021118, -0.030370185151696205, 0.030370185151696205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3763256371021271, -1.4467459917068481, 1.1102845668792725, 1.501678466796875, -1.104943871498108, -1.4806973934173584, -0.026859097182750702, 0.026859097182750702, 0.5544747114181519, -2.0235371589660645, 1.6203173398971558, -0.2653162479400635, 1.0809109210968018, 1.1701762676239014, -0.030379081144928932, 0.030379081144928932], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.38319218158721924, -1.4444571733474731, 1.1102845668792725, 1.501678466796875, -1.1045624017715454, -1.481078863143921, -0.02694559097290039, 0.02694559097290039, 0.5445563197135925, -2.0189592838287354, 1.6203173398971558, -0.26989394426345825, 1.0934996604919434, 1.1701762676239014, -0.03038797527551651, 0.03038797527551651], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3931105434894562, -1.4391164779663086, 1.1102845668792725, 1.5005340576171875, -1.1057069301605225, -1.483367681503296, -0.027500146999955177, 0.027500146999955177, 0.5312047004699707, -2.012474298477173, 1.6199358701705933, -0.2725642919540405, 1.11142897605896, 1.1701762676239014, -0.030820799991488457, 0.030820799991488457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4037918746471405, -1.4280537366867065, 1.112191915512085, 1.50244140625, -1.10837721824646, -1.4887083768844604, -0.029194198548793793, 0.029194198548793793, 0.5136567950248718, -2.0029373168945312, 1.6165026426315308, -0.28400853276252747, 1.1354619264602661, 1.1694133281707764, -0.030829571187496185, 0.030829571187496185], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4091325104236603, -1.408979892730713, 1.113336443901062, 1.508163571357727, -1.1182955503463745, -1.4909971952438354, -0.029967406764626503, 0.029967406764626503, 0.4892423748970032, -1.9811933040618896, 1.5947585105895996, -0.291638046503067, 1.1552987098693848, 1.1690318584442139, -0.030829571187496185, 0.030829571187496185], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4087510406970978, -1.3818951845169067, 1.1125733852386475, 1.5512703657150269, -1.1331731081008911, -1.508163571357727, -0.030890900641679764, 0.030890900641679764, 0.4556725323200226, -1.9487677812576294, 1.5550850629806519, -0.29812315106391907, 1.1655985116958618, 1.1663614511489868, -0.030829571187496185, 0.030829571187496185], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4087510406970978, -1.3498512506484985, 1.110666036605835, 1.589417815208435, -1.1430914402008057, -1.5276188850402832, -0.03089965134859085, 0.03089965134859085, 0.41447317600250244, -1.9064240455627441, 1.50244140625, -0.30079346895217896, 1.1675058603286743, 1.1655985116958618, -0.030829571187496185, 0.030829571187496185], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4003585875034332, -1.3052185773849487, 1.1072328090667725, 1.6111619472503662, -1.1522468328475952, -1.5470740795135498, -0.030794471502304077, 0.030794471502304077, 0.3725108802318573, -1.8549247980117798, 1.4436942338943481, -0.30460822582244873, 1.1701762676239014, 1.1533913612365723, -0.030829571187496185, 0.030829571187496185], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.38090333342552185, -1.2438009977340698, 1.0931181907653809, 1.6191729307174683, -1.1503394842147827, -1.5569924116134644, -0.030803250148892403, 0.030803250148892403, 0.33360037207603455, -1.7942702770233154, 1.3864728212356567, -0.30498969554901123, 1.1705577373504639, 1.1331731081008911, -0.030829571187496185, 0.030829571187496185], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.36526283621788025, -1.188868522644043, 1.0706111192703247, 1.6268024444580078, -1.1087586879730225, -1.5566109418869019, -0.030803250148892403, 0.030803250148892403, 0.29888609051704407, -1.734760046005249, 1.332684874534607, -0.30537116527557373, 1.1701762676239014, 1.113336443901062, -0.030847107991576195, 0.030847107991576195], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3572518527507782, -1.1583504676818848, 1.0671778917312622, 1.6344319581985474, -1.0999847650527954, -1.5585182905197144, -0.025715358555316925, 0.025715358555316925, 0.27141985297203064, -1.6756312847137451, 1.2819485664367676, -0.3068970739841461, 1.1709392070770264, 1.0866330862045288, -0.030847107991576195, 0.030847107991576195], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3286411762237549, -1.0927367210388184, 1.034752368927002, 1.6332875490188599, -1.0748074054718018, -1.568818211555481, -0.016509903594851494, 0.016509903594851494, 0.25158312916755676, -1.6050583124160767, 1.2323567867279053, -0.3065156042575836, 1.1736094951629639, 1.0481040477752686, -0.026502346619963646, 0.026502346619963646], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2763790488243103, -0.9725719094276428, 0.9630350470542908, 1.58865487575531, -0.9897382855415344, -1.5520333051681519, -0.0006135517032817006, 0.0006135517032817006, 0.23556114733219147, -1.517700433731079, 1.177042841911316, -0.3061341345310211, 1.1629282236099243, 1.0019454956054688, -0.016395339742302895, 0.016395339742302895], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.20237277448177338, -0.8226520419120789, 0.8680475950241089, 1.4765011072158813, -0.8722438216209412, -1.5077821016311646, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.22449836134910583, -1.408216953277588, 1.1072328090667725, -0.3072785437107086, 1.125925064086914, 0.9424353241920471, -0.005640728399157524, 0.005640728399157524], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10090028494596481, -0.6723506450653076, 0.7673380374908447, 1.3143739700317383, -0.7566567659378052, -1.3982986211776733, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.22182802855968475, -1.2724117040634155, 1.0194933414459229, -0.3065156042575836, 1.0530632734298706, 0.8615625500679016, -0.0004008336691185832, 0.0004008336691185832], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04558632895350456, -0.5395971536636353, 0.6715877056121826, 1.1541543006896973, -0.6586175560951233, -1.2464714050292969, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.2447165697813034, -1.1072328090667725, 0.9107728600502014, -0.30498969554901123, 0.9229800701141357, 0.7528420090675354, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20733195543289185, -0.42858776450157166, 0.5758373141288757, 1.0599298477172852, -0.5624856948852539, -1.1377508640289307, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.3057526648044586, -0.924887478351593, 0.7860303521156311, -0.30308231711387634, 0.7650492191314697, 0.6101701259613037, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3614480793476105, -0.3271152675151825, 0.4697871506214142, 1.0034713745117188, -0.4667353332042694, -1.0744259357452393, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.3847180902957916, -0.7745860815048218, 0.6742580533027649, -0.30270084738731384, 0.6380178332328796, 0.482375830411911, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4961089491844177, -0.23289081454277039, 0.35229265689849854, 0.9733348488807678, -0.36564430594444275, -1.0465781688690186, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.4873350262641907, -0.6357290148735046, 0.5575265288352966, -0.30231937766075134, 0.5327305793762207, 0.3442816734313965, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6067368388175964, -0.15354390442371368, 0.24090181291103363, 0.954261064529419, -0.26760509610176086, -1.045433759689331, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.5918593406677246, -0.5186160206794739, 0.44766154885292053, -0.30041199922561646, 0.4533836841583252, 0.24204623699188232, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6773098111152649, -0.09899290651082993, 0.15964750945568085, 0.9435797929763794, -0.2004653960466385, -1.045433759689331, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.6601434350013733, -0.4201953113079071, 0.3423742949962616, -0.2821011543273926, 0.3850995600223541, 0.1825360506772995, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7169833183288574, -0.06466010212898254, 0.11310750246047974, 0.9378576278686523, -0.1527809500694275, -1.042763352394104, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.6971465349197388, -0.34504464268684387, 0.25616082549095154, -0.24242770671844482, 0.3381780683994293, 0.1504921019077301, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7383459210395813, -0.048256658017635345, 0.0875486359000206, 0.9351872801780701, -0.12455176562070847, -1.0343708992004395, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7166017889976501, -0.2817196846008301, 0.19474326074123383, -0.2138170450925827, 0.2962157726287842, 0.13141833245754242, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7536049485206604, -0.03757534176111221, 0.07267109304666519, 0.9325169920921326, -0.1028076633810997, -1.0240710973739624, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.725375771522522, -0.23594263195991516, 0.1512550562620163, -0.17833982408046722, 0.2599755823612213, 0.12149996310472488, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7661936283111572, -0.03681239113211632, 0.06351567804813385, 0.9321355223655701, -0.08030059933662415, -1.0164415836334229, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7322422862052917, -0.21076524257659912, 0.11959258466959, -0.1493476778268814, 0.2443350851535797, 0.11387044936418533, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7745860815048218, -0.04177157208323479, 0.05970092490315437, 0.9313725233078003, -0.061226826161146164, -1.0088120698928833, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.733386754989624, -0.20199130475521088, 0.10013733059167862, -0.13027389347553253, 0.22259098291397095, 0.11043716967105865, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7822155952453613, -0.05207141116261482, 0.05855649709701538, 0.9294651746749878, -0.04291599988937378, -1.0049973726272583, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7352941036224365, -0.20618753135204315, 0.09021896868944168, -0.11615930497646332, 0.2145799994468689, 0.10967422276735306, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7963302135467529, -0.06084534898400307, 0.0555046908557415, 0.9294651746749878, -0.01926451548933983, -1.0011825561523438, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7364385724067688, -0.21229113638401031, 0.08525978773832321, -0.11081864684820175, 0.20542457699775696, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.06923781335353851, 0.05130846053361893, 0.9294651746749878, 0.004386968910694122, -0.9939345121383667, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.2141985148191452, 0.08297093212604523, -0.10700388997793198, 0.20389868319034576, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, -0.09060044586658478, 0.03643091395497322, 0.9298466444015503, 0.025749599561095238, -0.9836347103118896, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.21686884760856628, 0.08182650804519653, -0.10433356463909149, 0.200083926320076, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.890554666519165, -0.10433356463909149, 0.02689402550458908, 0.9298466444015503, 0.05359731614589691, -0.9618905782699585, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.21725031733512878, 0.08144503086805344, -0.10128175467252731, 0.200083926320076, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9100099205970764, -0.11196307092905045, 0.021553369238972664, 0.9298466444015503, 0.06656748056411743, -0.9481574892997742, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.21992065012454987, 0.08144503086805344, -0.10090028494596481, 0.1997024416923523, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9206912517547607, -0.11501488089561462, 0.01888304017484188, 0.9302281141281128, 0.07724879682064056, -0.9420538544654846, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.21992065012454987, 0.08144503086805344, -0.09822995215654373, 0.1974135935306549, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.926413357257843, -0.1180666834115982, 0.01773861236870289, 0.9302281141281128, 0.08144503086805344, -0.9382390975952148, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.21992065012454987, 0.08144503086805344, -0.09784847497940063, 0.1974135935306549, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9294651746749878, -0.1188296303153038, 0.016975661739706993, 0.9302281141281128, 0.08411535620689392, -0.9370946884155273, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22068360447883606, 0.08144503086805344, -0.09784847497940063, 0.1974135935306549, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9306095838546753, -0.1199740618467331, 0.016975661739706993, 0.9325169920921326, 0.08449683338403702, -0.9348058104515076, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22182802855968475, 0.08144503086805344, -0.09784847497940063, 0.1977950781583786, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12111848592758179, 0.016975661739706993, 0.9325169920921326, 0.08602273464202881, -0.9344243407249451, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08182650804519653, -0.09784847497940063, 0.1977950781583786, 0.10624094307422638, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12188144028186798, 0.016975661739706993, 0.9321355223655701, 0.086785688996315, -0.9340428709983826, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08182650804519653, -0.09784847497940063, 0.1977950781583786, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12188144028186798, 0.016975661739706993, 0.9321355223655701, 0.0871671661734581, -0.9340428709983826, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08182650804519653, -0.09784847497940063, 0.1977950781583786, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12188144028186798, 0.016975661739706993, 0.9321355223655701, 0.086785688996315, -0.9340428709983826, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08182650804519653, -0.09784847497940063, 0.1977950781583786, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12188144028186798, 0.016975661739706993, 0.9321355223655701, 0.086785688996315, -0.9340428709983826, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08182650804519653, -0.09784847497940063, 0.1981765478849411, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12226291000843048, 0.016975661739706993, 0.9317540526390076, 0.0871671661734581, -0.9344243407249451, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08182650804519653, -0.09784847497940063, 0.1981765478849411, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12226291000843048, 0.016975661739706993, 0.9317540526390076, 0.0875486359000206, -0.9355688095092773, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08182650804519653, -0.09784847497940063, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12226291000843048, 0.016975661739706993, 0.9294651746749878, 0.0879301130771637, -0.9393835067749023, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08182650804519653, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12226291000843048, 0.016975661739706993, 0.9294651746749878, 0.08869306743144989, -0.9431982636451721, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08182650804519653, -0.09746700525283813, 0.1993209719657898, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12226291000843048, 0.016975661739706993, 0.9294651746749878, 0.09060044586658478, -0.9462500810623169, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.200083926320076, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12226291000843048, 0.016975661739706993, 0.9298466444015503, 0.09060044586658478, -0.9462500810623169, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.200083926320076, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12264438718557358, 0.01735713705420494, 0.9302281141281128, 0.0875486359000206, -0.9451056718826294, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.200083926320076, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12302586436271667, 0.01773861236870289, 0.9325169920921326, 0.086785688996315, -0.9401465058326721, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1997024416923523, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12417028844356537, 0.01773861236870289, 0.9321355223655701, 0.08564125746488571, -0.9382390975952148, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1993209719657898, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.12378881871700287, 0.01735713705420494, 0.9412909150123596, 0.08525978773832321, -0.9431982636451721, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9317540526390076, -0.11768520623445511, 0.01430533267557621, 1.0763332843780518, 0.08411535620689392, -1.0763332843780518, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1981765478849411, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9313725233078003, -0.11425192654132843, 0.010872052982449532, 1.2392233610153198, 0.08297093212604523, -1.2396048307418823, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1981765478849411, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9267948269844055, -0.1028076633810997, 0.004386968910694122, 1.347943902015686, 0.08564125746488571, -1.348706841468811, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1981765478849411, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924887478351593, -0.0883115902543068, -0.005912871100008488, 1.4101243019104004, 0.09555962681770325, -1.416990876197815, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1981765478849411, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9225986003875732, -0.07267109304666519, -0.01430533267557621, 1.4486533403396606, 0.10624094307422638, -1.4578088521957397, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1981765478849411, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9222171306610107, -0.061226826161146164, -0.02040894143283367, 1.4703974723815918, 0.11043716967105865, -1.481078863143921, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1981765478849411, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.054741740226745605, -0.024223696440458298, 1.489089846611023, 0.11310750246047974, -1.500152587890625, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9199283123016357, -0.04901960864663124, -0.025749599561095238, 1.5512703657150269, 0.11348897218704224, -1.5588998794555664, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1981765478849411, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9199283123016357, -0.046730753034353256, -0.02689402550458908, 1.5909438133239746, 0.11196307092905045, -1.5924696922302246, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9195467829704285, -0.04482337832450867, -0.02689402550458908, 1.6081101894378662, 0.11158160120248795, -1.6073472499847412, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10624094307422638, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9195467829704285, -0.04482337832450867, -0.02727550081908703, 1.6161211729049683, 0.11120012402534485, -1.6172655820846558, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9195467829704285, -0.04291599988937378, -0.02727550081908703, 1.6229877471923828, 0.11120012402534485, -1.6241321563720703, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.04329747334122658, -0.027656977996230125, 1.6264209747314453, 0.11272602528333664, -1.6248950958251953, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10624094307422638, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.04558632895350456, -0.02727550081908703, 1.6226062774658203, 0.11234454810619354, -1.6222248077392578, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10624094307422638, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.04711223021149635, -0.02689402550458908, 1.58712899684906, 0.11272602528333664, -1.584840178489685, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.04711223021149635, -0.02689402550458908, 1.5650033950805664, 0.11272602528333664, -1.566529393196106, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.04711223021149635, -0.02689402550458908, 1.5520333051681519, 0.11310750246047974, -1.5543221235275269, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.04711223021149635, -0.02689402550458908, 1.5432593822479248, 0.11310750246047974, -1.5482184886932373, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10624094307422638, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.04940108209848404, -0.026512550190091133, 1.5390630960464478, 0.11310750246047974, -1.5447852611541748, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10624094307422638, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.05054550990462303, -0.025749599561095238, 1.5356298685073853, 0.11425192654132843, -1.5447852611541748, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10624094307422638, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.051689937710762024, -0.025749599561095238, 1.5352483987808228, 0.11387044936418533, -1.5447852611541748, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.05245288833975792, -0.025749599561095238, 1.5352483987808228, 0.11387044936418533, -1.5447852611541748, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.05283436179161072, -0.024986648932099342, 1.5348668098449707, 0.11387044936418533, -1.5447852611541748, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10624094307422638, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.05283436179161072, -0.024986648932099342, 1.5344853401184082, 0.11348897218704224, -1.5451667308807373, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.919165313243866, -0.05359731614589691, -0.024986648932099342, 1.5318150520324707, 0.11348897218704224, -1.5455482006072998, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9187838435173035, -0.05397878959774971, -0.024986648932099342, 1.5321965217590332, 0.11310750246047974, -1.5485999584197998, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.918402373790741, -0.05436026677489281, -0.024986648932099342, 1.5321965217590332, 0.11310750246047974, -1.5497443675994873, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05397878959774971, -0.024986648932099342, 1.5321965217590332, 0.11310750246047974, -1.5524147748947144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024986648932099342, 1.5325779914855957, 0.11310750246047974, -1.5524147748947144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10624094307422638, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05397878959774971, -0.024986648932099342, 1.5325779914855957, 0.11310750246047974, -1.5527962446212769, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024986648932099342, 1.5329594612121582, 0.11310750246047974, -1.5527962446212769, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024605173617601395, 1.5352483987808228, 0.11310750246047974, -1.5531777143478394, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024605173617601395, 1.5352483987808228, 0.11272602528333664, -1.5531777143478394, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024986648932099342, 1.5352483987808228, 0.11272602528333664, -1.5535591840744019, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024605173617601395, 1.5352483987808228, 0.11272602528333664, -1.5535591840744019, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10624094307422638, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024605173617601395, 1.5348668098449707, 0.11272602528333664, -1.5535591840744019, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024605173617601395, 1.5348668098449707, 0.11272602528333664, -1.5535591840744019, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024605173617601395, 1.5344853401184082, 0.11272602528333664, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09746700525283813, 0.1985580176115036, 0.10624094307422638, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024605173617601395, 1.5344853401184082, 0.11272602528333664, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024605173617601395, 1.5325779914855957, 0.11272602528333664, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024605173617601395, 1.5321965217590332, 0.11272602528333664, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7368200421333313, -0.22373540699481964, 0.08220797777175903, -0.09708552807569504, 0.1985580176115036, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.917639434337616, -0.05436026677489281, -0.024605173617601395, 1.5321965217590332, 0.11272602528333664, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7410162687301636, -0.22259098291397095, 0.08144503086805344, -0.09327077120542526, 0.19207294285297394, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.05436026677489281, -0.024605173617601395, 1.5325779914855957, 0.11272602528333664, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7860303521156311, -0.2145799994468689, 0.07763027399778366, -0.08564125746488571, 0.1371404528617859, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.056267641484737396, -0.023460745811462402, 1.5325779914855957, 0.11272602528333664, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8585107326507568, -0.21038375794887543, 0.07381551712751389, -0.08144503086805344, 0.04100862145423889, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.05664911866188049, -0.023460745811462402, 1.5329594612121582, 0.11234454810619354, -1.5535591840744019, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.9107728600502014, -0.20847637951374054, 0.0711451917886734, -0.07839322835206985, -0.03757534176111221, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.05664911866188049, -0.023460745811462402, 1.5352483987808228, 0.11272602528333664, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.9405279755592346, -0.20466163754463196, 0.06847485899925232, -0.07801175117492676, -0.08449683338403702, 0.10662241280078888, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.05855649709701538, -0.02231631986796856, 1.5352483987808228, 0.11272602528333664, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.9576943516731262, -0.20084688067436218, 0.06237125024199486, -0.11768520623445511, -0.10891126841306686, 0.1508735716342926, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06008239835500717, -0.021553369238972664, 1.5352483987808228, 0.11272602528333664, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.9645609259605408, -0.1974135935306549, 0.0555046908557415, -0.2470054179430008, -0.12188144028186798, 0.2763790488243103, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.05970092490315437, -0.021553369238972664, 1.5352483987808228, 0.11234454810619354, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.9596017599105835, -0.19512474536895752, 0.04787518084049225, -0.4808499217033386, -0.12226291000843048, 0.5029755234718323, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.05970092490315437, -0.021553369238972664, 1.5348668098449707, 0.11234454810619354, -1.5539406538009644, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.9298466444015503, -0.18978407979011536, 0.043678950518369675, -0.8054856061935425, -0.1028076633810997, 0.8249408602714539, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.05970092490315437, -0.021553369238972664, 1.5348668098449707, 0.11234454810619354, -1.5558480024337769, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.9031433463096619, -0.18749523162841797, 0.04139009863138199, -1.117151141166687, -0.0871671661734581, 1.1362248659133911, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06160829961299896, -0.021553369238972664, 1.5348668098449707, 0.11234454810619354, -1.5558480024337769, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8901731967926025, -0.18635080754756927, 0.0398641936480999, -1.3067444562911987, -0.07877469807863235, 1.3246738910675049, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5344853401184082, 0.11272602528333664, -1.5558480024337769, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.881780743598938, -0.1848248988389969, 0.039101243019104004, -1.416990876197815, -0.07572289556264877, 1.4360647201538086, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5344853401184082, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8779659867286682, -0.1848248988389969, 0.038719769567251205, -1.4780269861221313, -0.07381551712751389, 1.496337890625, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5341038703918457, 0.11234454810619354, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8768215179443359, -0.1848248988389969, 0.038719769567251205, -1.5115967988967896, -0.07267109304666519, 1.5299077033996582, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5329594612121582, 0.11234454810619354, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8756771087646484, -0.1848248988389969, 0.038719769567251205, -1.5306706428527832, -0.07305257022380829, 1.5489814281463623, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5321965217590332, 0.11234454810619354, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03795681521296501, -1.5421148538589478, -0.07495994865894318, 1.560807228088379, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5325779914855957, 0.11234454810619354, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5489814281463623, -0.07572289556264877, 1.5669108629226685, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5325779914855957, 0.11234454810619354, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5531777143478394, -0.07572289556264877, 1.571107029914856, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5325779914855957, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5558480024337769, -0.07610437273979187, 1.571869969367981, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5329594612121582, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5562294721603394, -0.07648584991693497, 1.574158787727356, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5352483987808228, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5566109418869019, -0.07648584991693497, 1.574158787727356, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5352483987808228, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5569924116134644, -0.07648584991693497, 1.574158787727356, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5352483987808228, 0.11234454810619354, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.574540376663208, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5348668098449707, 0.11234454810619354, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5577553510665894, -0.07686731964349747, 1.574540376663208, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5348668098449707, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5596628189086914, -0.07686731964349747, 1.574540376663208, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5348668098449707, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5596628189086914, -0.07686731964349747, 1.574540376663208, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5348668098449707, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5596628189086914, -0.07686731964349747, 1.574540376663208, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5344853401184082, 0.11272602528333664, -1.5547035932540894, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.559281349182129, -0.07686731964349747, 1.574540376663208, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5344853401184082, 0.11272602528333664, -1.5547035932540894, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5588998794555664, -0.07686731964349747, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5344853401184082, 0.11272602528333664, -1.5547035932540894, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5585182905197144, -0.07686731964349747, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5321965217590332, 0.11272602528333664, -1.5547035932540894, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5562294721603394, -0.07686731964349747, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5321965217590332, 0.11272602528333664, -1.5543221235275269, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5562294721603394, -0.07686731964349747, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5325779914855957, 0.11272602528333664, -1.5527962446212769, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5566109418869019, -0.07686731964349747, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5325779914855957, 0.11272602528333664, -1.5531777143478394, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5566109418869019, -0.07648584991693497, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5325779914855957, 0.11272602528333664, -1.5531777143478394, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5566109418869019, -0.07648584991693497, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5329594612121582, 0.11272602528333664, -1.5531777143478394, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5566109418869019, -0.07648584991693497, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5352483987808228, 0.11272602528333664, -1.5531777143478394, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5569924116134644, -0.07648584991693497, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5352483987808228, 0.11272602528333664, -1.5535591840744019, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5569924116134644, -0.07648584991693497, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5352483987808228, 0.11272602528333664, -1.5543221235275269, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5352483987808228, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5348668098449707, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5348668098449707, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5348668098449707, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07610437273979187, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5344853401184082, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07610437273979187, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5344853401184082, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5341038703918457, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5577553510665894, -0.07610437273979187, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5321965217590332, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5577553510665894, -0.07648584991693497, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5325779914855957, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5577553510665894, -0.07610437273979187, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5325779914855957, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5577553510665894, -0.07610437273979187, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5325779914855957, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5329594612121582, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5577553510665894, -0.07610437273979187, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5352483987808228, 0.11272602528333664, -1.5554665327072144, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5352483987808228, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5577553510665894, -0.07610437273979187, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5352483987808228, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07610437273979187, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5352483987808228, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5577553510665894, -0.07648584991693497, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5348668098449707, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5348668098449707, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5577553510665894, -0.07648584991693497, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5348668098449707, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5577553510665894, -0.07648584991693497, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5348668098449707, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07610437273979187, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5344853401184082, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07610437273979187, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5341038703918457, 0.11234454810619354, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5577553510665894, -0.07648584991693497, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5329594612121582, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5321965217590332, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.575303316116333, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.06198977679014206, -0.02079041674733162, 1.5325779914855957, 0.11272602528333664, -1.5550850629806519, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8749141693115234, -0.1848248988389969, 0.03757534176111221, -1.5573738813400269, -0.07648584991693497, 1.5749218463897705, -0.00032346139778383076, 0.00032346139778383076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000031/meta.json b/rc-table30-v2__rc-dos-w1/000031/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0906c646e06d7b181379babb3e9ccc9ed105cc7
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000031/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Put the pens on the desk into the pen holder.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 1685,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000031/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000031/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..64bd00530f3821da8a4dfb53585775c6ce4b5357
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000031/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000031/temporal.json b/rc-table30-v2__rc-dos-w1/000031/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..916aad086b4460eec54ae9ceade7a1eb50447970
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000031/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8588922023773193, 0.02079041674733162, -0.05893797054886818, 1.485656499862671, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566529393196106, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8592736721038818, 0.02079041674733162, -0.05893797054886818, 1.485656499862671, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566147804260254, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8592736721038818, 0.02079041674733162, -0.05893797054886818, 1.485656499862671, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566529393196106, -0.11539635062217712, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8592736721038818, 0.02079041674733162, -0.05893797054886818, 1.4860379695892334, 0.1325627565383911, -1.5554665327072144, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566147804260254, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8592736721038818, 0.02079041674733162, -0.05893797054886818, 1.4860379695892334, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566147804260254, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8592736721038818, 0.02079041674733162, -0.05893797054886818, 1.4860379695892334, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566529393196106, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.02079041674733162, -0.05893797054886818, 1.485656499862671, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566529393196106, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.02079041674733162, -0.05893797054886818, 1.485656499862671, 0.13218127191066742, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566529393196106, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.02079041674733162, -0.05893797054886818, 1.485656499862671, 0.1325627565383911, -1.5554665327072144, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566147804260254, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.02079041674733162, -0.05893797054886818, 1.4860379695892334, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566147804260254, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.02079041674733162, -0.05893797054886818, 1.4860379695892334, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566147804260254, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.02079041674733162, -0.05893797054886818, 1.485656499862671, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566147804260254, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.02079041674733162, -0.05893797054886818, 1.485656499862671, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566147804260254, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.02040894143283367, -0.05893797054886818, 1.485656499862671, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566529393196106, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.019645990803837776, -0.05893797054886818, 1.4860379695892334, 0.1325627565383911, -1.5550850629806519, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.566529393196106, -0.11539635062217712, 1.5497443675994873, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.01926451548933983, -0.05893797054886818, 1.4860379695892334, 0.1325627565383911, -1.5554665327072144, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.567292332649231, -0.11501488089561462, 1.5493628978729248, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.018501564860343933, -0.05855649709701538, 1.4860379695892334, 0.1325627565383911, -1.5558480024337769, -0.0, 0.0, 0.9084840416908264, 0.039101243019104004, -0.06198977679014206, -1.569581151008606, -0.11501488089561462, 1.5493628978729248, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.01773861236870289, -0.058175019919872284, 1.4860379695892334, 0.1329442262649536, -1.5562294721603394, -0.0, 0.0, 0.9084840416908264, 0.038719769567251205, -0.06198977679014206, -1.569581151008606, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, 0.013542382046580315, -0.0551232174038887, 1.485656499862671, 0.1329442262649536, -1.564621925354004, -0.0, 0.0, 0.9084840416908264, 0.038719769567251205, -0.06198977679014206, -1.569581151008606, -0.11501488089561462, 1.5493628978729248, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8455405235290527, 0.009346150793135166, -0.029182879254221916, 1.485656499862671, 0.1199740618467331, -1.58865487575531, -0.0, 0.0, 0.9084840416908264, 0.03833829239010811, -0.06198977679014206, -1.5691996812820435, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7986190319061279, -0.007438773289322853, 0.039101243019104004, 1.485656499862671, 0.06389715522527695, -1.6424429416656494, -0.0, 0.0, 0.9084840416908264, 0.03757534176111221, -0.06198977679014206, -1.5691996812820435, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7299534678459167, -0.061226826161146164, 0.14209964871406555, 1.4860379695892334, -0.057793546468019485, -1.7027161121368408, -0.0, 0.0, 0.9084840416908264, 0.037193864583969116, -0.06198977679014206, -1.5691996812820435, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6654840707778931, -0.1646067053079605, 0.2630273997783661, 1.485656499862671, -0.22411687672138214, -1.7587929964065552, -0.0, 0.0, 0.9084840416908264, 0.037193864583969116, -0.06198977679014206, -1.5684367418289185, -0.11501488089561462, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6258106231689453, -0.28858625888824463, 0.3694590628147125, 1.486419439315796, -0.35152971744537354, -1.7942702770233154, -0.0, 0.0, 0.9084840416908264, 0.037193864583969116, -0.06198977679014206, -1.566147804260254, -0.11539635062217712, 1.5493628978729248, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6063553690910339, -0.4224841594696045, 0.46215763688087463, 1.485656499862671, -0.4396505653858185, -1.8369954824447632, -0.0, 0.0, 0.9084840416908264, 0.03681239113211632, -0.06198977679014206, -1.566147804260254, -0.11539635062217712, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5960555672645569, -0.5498970150947571, 0.5407415628433228, 1.486419439315796, -0.5186160206794739, -1.888113260269165, -0.0, 0.0, 0.9084840416908264, 0.03681239113211632, -0.06198977679014206, -1.566147804260254, -0.11539635062217712, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6101701259613037, -0.6799801588058472, 0.612840473651886, 1.5150301456451416, -0.5914778113365173, -1.971656322479248, -0.0, 0.0, 0.9084840416908264, 0.03681239113211632, -0.06198977679014206, -1.566147804260254, -0.11539635062217712, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6631952524185181, -0.8077744841575623, 0.6857023239135742, 1.643587350845337, -0.6643396615982056, -2.126535415649414, -0.0, 0.0, 0.9084840416908264, 0.03643091395497322, -0.06198977679014206, -1.566147804260254, -0.11539635062217712, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6898985505104065, -0.9233615398406982, 0.7475013136863708, 1.732471227645874, -0.7188906669616699, -2.2619593143463135, -0.0, 0.0, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.566147804260254, -0.11539635062217712, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7082093358039856, -1.0240710973739624, 0.7955672740936279, 1.7786297798156738, -0.7768749594688416, -2.371824264526367, -0.0, 0.0, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.566529393196106, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7135500311851501, -1.0942625999450684, 0.8257037997245789, 1.8060959577560425, -0.8432517051696777, -2.446974992752075, -0.0010035228915512562, 0.0010035228915512562, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.566529393196106, -0.11539635062217712, 1.5493628978729248, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7173647880554199, -1.1339360475540161, 0.8428702354431152, 1.809910774230957, -0.8768215179443359, -2.4942779541015625, -0.0071427845396101475, 0.0071427845396101475, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.566529393196106, -0.11539635062217712, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7185091972351074, -1.1556801795959473, 0.8524070978164673, 1.810673713684082, -0.9012359976768494, -2.526703357696533, -0.008639584295451641, 0.008639584295451641, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.566529393196106, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7150759100914001, -1.1724650859832764, 0.8592736721038818, 1.8102922439575195, -0.9298466444015503, -2.5492103099823, -0.011630412191152573, 0.011630412191152573, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.566529393196106, -0.11539635062217712, 1.5497443675994873, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7143129706382751, -1.188105583190918, 0.8642328381538391, 1.809910774230957, -0.9653238654136658, -2.560654640197754, -0.011630412191152573, 0.011630412191152573, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.566529393196106, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7127870321273804, -1.1999313831329346, 0.8672846555709839, 1.8102922439575195, -0.9878309369087219, -2.568284034729004, -0.011630412191152573, 0.011630412191152573, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.566529393196106, -0.11539635062217712, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7101167440414429, -1.2087053060531616, 0.8695735335350037, 1.8102922439575195, -0.9992752075195312, -2.5740063190460205, -0.011630412191152573, 0.011630412191152573, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.5669108629226685, -0.11539635062217712, 1.5493628978729248, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7063019871711731, -1.2170977592468262, 0.8695735335350037, 1.8102922439575195, -1.0133898258209229, -2.5747692584991455, -0.011630412191152573, 0.011630412191152573, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.5669108629226685, -0.11539635062217712, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7036316394805908, -1.2285419702529907, 0.8695735335350037, 1.8102922439575195, -1.021400809288025, -2.574387788772583, -0.011630412191152573, 0.011630412191152573, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.5669108629226685, -0.11539635062217712, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7036316394805908, -1.2399863004684448, 0.8695735335350037, 1.8102922439575195, -1.0271228551864624, -2.574387788772583, -0.011630412191152573, 0.011630412191152573, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7036316394805908, -1.2491416931152344, 0.8695735335350037, 1.8102922439575195, -1.028648853302002, -2.5740063190460205, -0.011630412191152573, 0.011630412191152573, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5493628978729248, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7036316394805908, -1.257534146308899, 0.8688105344772339, 1.809910774230957, -1.0328450202941895, -2.5740063190460205, -0.01159644965082407, 0.01159644965082407, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7036316394805908, -1.2659265995025635, 0.8684290647506714, 1.809910774230957, -1.0328450202941895, -2.573624849319458, -0.011008473113179207, 0.011008473113179207, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7032501697540283, -1.274319052696228, 0.8684290647506714, 1.809910774230957, -1.0328450202941895, -2.573624849319458, -0.011008473113179207, 0.011008473113179207, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7032501697540283, -1.283092975616455, 0.8680475950241089, 1.8095293045043945, -1.032463550567627, -2.573624849319458, -0.010983546264469624, 0.010983546264469624, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7032501697540283, -1.2903410196304321, 0.8676661252975464, 1.8095293045043945, -1.0320820808410645, -2.573624849319458, -0.008707377128303051, 0.008707377128303051, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7028687000274658, -1.2972075939178467, 0.8669031858444214, 1.8095293045043945, -1.031700611114502, -2.5701913833618164, -0.008662157692015171, 0.008662157692015171, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7028687000274658, -1.3052185773849487, 0.8665217161178589, 1.8095293045043945, -1.030937671661377, -2.5701913833618164, -0.008647105656564236, 0.008647105656564236, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7021057605743408, -1.3136110305786133, 0.8661402463912964, 1.8095293045043945, -1.028648853302002, -2.569809913635254, -0.008178673684597015, 0.008178673684597015, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7021057605743408, -1.3193331956863403, 0.8649957776069641, 1.8095293045043945, -1.027885913848877, -2.5686655044555664, -0.0031557255424559116, 0.0031557255424559116, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7024872303009033, -1.3208590745925903, 0.8638513684272766, 1.809910774230957, -1.027885913848877, -2.5625619888305664, -0.0026355094742029905, 0.0026355094742029905, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7024872303009033, -1.3204776048660278, 0.8627069592475891, 1.809910774230957, -1.027885913848877, -2.5579843521118164, -0.0026355094742029905, 0.0026355094742029905, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7001983523368835, -1.3109407424926758, 0.8604180812835693, 1.8087663650512695, -1.025978446006775, -2.5549325942993164, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6906614899635315, -1.2796597480773926, 0.8607995510101318, 1.809147834777832, -1.0271228551864624, -2.55073618888855, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6811245679855347, -1.2277790307998657, 0.8600366115570068, 1.8221179246902466, -1.0076676607131958, -2.542343854904175, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6780728101730347, -1.1602579355239868, 0.8512626886367798, 1.8656061887741089, -0.9691386222839355, -2.535858631134033, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6769283413887024, -1.0717555284500122, 0.8157854676246643, 1.9167238473892212, -0.89131760597229, -2.5324254035949707, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, 0.03604944050312042, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6727321147918701, -0.969520092010498, 0.7581826448440552, 1.9529640674591064, -0.7753490209579468, -2.532043933868408, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, 0.03528648987412453, -0.06198977679014206, -1.567292332649231, -0.11539635062217712, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6666285395622253, -0.8646143078804016, 0.6921873688697815, 1.9754711389541626, -0.6410696506500244, -2.512207269668579, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, 0.031090257689356804, -0.05893797054886818, -1.566529393196106, -0.11501488089561462, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6631952524185181, -0.7688639760017395, 0.6315327882766724, 1.9880597591400146, -0.5197604298591614, -2.463378429412842, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, 0.02689402550458908, -0.040245670825242996, -1.566147804260254, -0.11272602528333664, 1.5497443675994873, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6605249047279358, -0.6872282028198242, 0.572022557258606, 1.9949263334274292, -0.39692530035972595, -2.420271635055542, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, 0.009346150793135166, 0.0036240178160369396, -1.565384864807129, -0.10891126841306686, 1.5497443675994873, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6601434350013733, -0.6296253800392151, 0.5106050372123718, 2.0002670288085938, -0.25616082549095154, -2.388227701187134, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, -0.04291599988937378, 0.06923781335353851, -1.5520333051681519, -0.10509651154279709, 1.5501258373260498, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6723506450653076, -0.6010147333145142, 0.44689860939979553, 2.0021743774414062, -0.10776684433221817, -2.3668649196624756, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, -0.12149996310472488, 0.14133669435977936, -1.5260928869247437, -0.10090028494596481, 1.5501258373260498, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6876096725463867, -0.6025406122207642, 0.3900587558746338, 2.0044631958007812, 0.04749370738863945, -2.3531320095062256, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.2134355753660202, 0.21190966665744781, -1.506637692451477, -0.09784847497940063, 1.5501258373260498, -0.00021620803454425186, 0.00021620803454425186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7051575779914856, -0.6265735626220703, 0.35038527846336365, 2.0048446655273438, 0.1840619444847107, -2.3302433490753174, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.3057526648044586, 0.2756160795688629, -1.494430422782898, -0.10662241280078888, 1.5505073070526123, -0.005502926651388407, 0.005502926651388407], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7383459210395813, -0.6616693139076233, 0.3278782367706299, 2.0052261352539062, 0.2977416515350342, -2.2810330390930176, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.387006938457489, 0.33054855465888977, -1.4887083768844604, -0.1325627565383911, 1.5501258373260498, -0.011715484783053398, 0.011715484783053398], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7639048099517822, -0.6940947771072388, 0.31681543588638306, 2.0052261352539062, 0.3778515160083771, -2.246318817138672, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.4530022144317627, 0.3717479109764099, -1.4837491512298584, -0.17071031033992767, 1.5501258373260498, -0.016109857708215714, 0.016109857708215714], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7883192300796509, -0.7234683632850647, 0.3107118308544159, 2.0056076049804688, 0.4404135048389435, -2.2234301567077637, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.5071717500686646, 0.4083695709705353, -1.483367681503296, -0.20580606162548065, 1.5505073070526123, -0.01868193969130516, 0.01868193969130516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8146410584449768, -0.7455939650535583, 0.3072785437107086, 2.0056076049804688, 0.4850461483001709, -2.1990158557891846, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.5502784848213196, 0.4339284300804138, -1.4799343347549438, -0.23517967760562897, 1.5505073070526123, -0.018888290971517563, 0.018888290971517563], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7570382356643677, 0.30537116527557373, 2.0056076049804688, 0.5086976289749146, -2.1822309494018555, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.5781261920928955, 0.44728007912635803, -1.4799343347549438, -0.2653162479400635, 1.5505073070526123, -0.018888290971517563, 0.018888290971517563], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8573662638664246, -0.763523280620575, 0.30460822582244873, 2.0052261352539062, 0.5228122472763062, -2.1684978008270264, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.5964370369911194, 0.4556725323200226, -1.4799343347549438, -0.2904936373233795, 1.5505073070526123, -0.018888290971517563, 0.018888290971517563], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8726252913475037, -0.767719566822052, 0.30384528636932373, 2.0052261352539062, 0.5304417610168457, -2.1604866981506348, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.6109330654144287, 0.46139466762542725, -1.4799343347549438, -0.30346378684043884, 1.5501258373260498, -0.018888290971517563, 0.018888290971517563], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.88979172706604, -0.7711527943611145, 0.30384528636932373, 2.0052261352539062, 0.5365453362464905, -2.1528573036193848, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.6231403350830078, 0.4663538634777069, -1.4799343347549438, -0.3126192092895508, 1.5501258373260498, -0.018613241612911224, 0.018613241612911224], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9027618765830994, -0.7749675512313843, 0.30384528636932373, 2.0052261352539062, 0.5376898050308228, -2.1452276706695557, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.6307697892189026, 0.4686427116394043, -1.4799343347549438, -0.31719690561294556, 1.5501258373260498, -0.012300288304686546, 0.012300288304686546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9096284508705139, -0.7799267768859863, 0.30384528636932373, 2.0033187866210938, 0.5373083353042603, -2.141031503677368, -0.0026306926738470793, 0.0026306926738470793, 0.9081025123596191, -0.6357290148735046, 0.4697871506214142, -1.4787899255752563, -0.3213931620121002, 1.5558480024337769, -0.003791384631767869, 0.003791384631767869], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9145876169204712, -0.7898451089859009, 0.3061341345310211, 2.0014114379882812, 0.5365453362464905, -2.1322574615478516, -0.0026306926738470793, 0.0026306926738470793, 0.9092469811439514, -0.6418325901031494, 0.4705500900745392, -1.487945318222046, -0.3244449496269226, 1.5547035932540894, -0.0030342768877744675, 0.0030342768877744675], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9153505563735962, -0.8085374236106873, 0.31490805745124817, 2.0006484985351562, 0.535400927066803, -2.1330206394195557, -0.0026306926738470793, 0.0026306926738470793, 0.9084840416908264, -0.649462103843689, 0.4701686203479767, -1.4887083768844604, -0.3240634799003601, 1.5543221235275269, -0.0030342768877744675, 0.0030342768877744675], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.916876494884491, -0.8325703740119934, 0.3274967670440674, 2.0006484985351562, 0.5357823967933655, -2.134927988052368, -0.0026935115456581116, 0.0026935115456581116, 0.9084840416908264, -0.6555657386779785, 0.4701686203479767, -1.495193362236023, -0.3236820101737976, 1.5501258373260498, -0.003029249142855406, 0.003029249142855406], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9187838435173035, -0.8566033244132996, 0.3389410376548767, 2.0059890747070312, 0.536926805973053, -2.134165048599243, -0.009003718383610249, 0.009003718383610249, 0.9077210426330566, -0.656710147857666, 0.4701686203479767, -1.496337890625, -0.32673379778862, 1.5451667308807373, -0.0030242244247347116, 0.0030242244247347116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.918402373790741, -0.8722438216209412, 0.34771496057510376, 2.007896661758423, 0.5476081371307373, -2.1345465183258057, -0.02113724872469902, 0.02113724872469902, 0.9058136940002441, -0.6555657386779785, 0.4701686203479767, -1.496337890625, -0.33016708493232727, 1.5459296703338623, -0.0030242244247347116, 0.0030242244247347116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.918402373790741, -0.8730067610740662, 0.35229265689849854, 2.0056076049804688, 0.5472266674041748, -2.134165048599243, -0.028750883415341377, 0.028750883415341377, 0.9065766334533691, -0.6498435735702515, 0.4701686203479767, -1.4993896484375, -0.33512628078460693, 1.5463111400604248, -0.0030242244247347116, 0.0030242244247347116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9164950251579285, -0.8524070978164673, 0.3530556261539459, 2.0052261352539062, 0.5151827335357666, -2.134165048599243, -0.029157431796193123, 0.029157431796193123, 0.881780743598938, -0.6433585286140442, 0.4686427116394043, -1.50091552734375, -0.3370336592197418, 1.5466926097869873, -0.0030242244247347116, 0.0030242244247347116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9096284508705139, -0.8146410584449768, 0.34924086928367615, 2.0048446655273438, 0.4533836841583252, -2.134165048599243, -0.016119351610541344, 0.016119351610541344, 0.8245593905448914, -0.6322957277297974, 0.45872434973716736, -1.5047303438186646, -0.3408484160900116, 1.5470740795135498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9012359976768494, -0.7661936283111572, 0.3397039771080017, 2.0048446655273438, 0.37975889444351196, -2.1314945220947266, -0.0, 0.0, 0.7291905283927917, -0.6132219433784485, 0.4396505653858185, -1.511215329170227, -0.3404669165611267, 1.5478370189666748, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8939879536628723, -0.7139315009117126, 0.3271152675151825, 2.0033187866210938, 0.3084229826927185, -2.1314945220947266, -0.0, 0.0, 0.6109330654144287, -0.5884260535240173, 0.41332876682281494, -1.511215329170227, -0.3400854468345642, 1.5505073070526123, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8894102573394775, -0.6727321147918701, 0.31757840514183044, 2.0014114379882812, 0.25272753834724426, -2.1314945220947266, -0.0, 0.0, 0.49229419231414795, -0.5693522691726685, 0.37899595499038696, -1.514648675918579, -0.3534370958805084, 1.5501258373260498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8882657885551453, -0.6460288166999817, 0.3107118308544159, 2.0014114379882812, 0.2138170450925827, -2.131875991821289, -0.0, 0.0, 0.3877699077129364, -0.5651560425758362, 0.3374151289463043, -1.5142672061920166, -0.41065841913223267, 1.5501258373260498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8871213793754578, -0.6322957277297974, 0.3065156042575836, 2.0014114379882812, 0.19321736693382263, -2.131875991821289, -0.0, 0.0, 0.3065156042575836, -0.5743114352226257, 0.30155640840530396, -1.514648675918579, -0.4728389382362366, 1.5501258373260498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8867399096488953, -0.6250476837158203, 0.30384528636932373, 2.0017929077148438, 0.182154580950737, -2.131875991821289, -0.0, 0.0, 0.24891279637813568, -0.5895704627037048, 0.2748531401157379, -1.5142672061920166, -0.5094605684280396, 1.5501258373260498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.6212329268455505, 0.30117493867874146, 2.0021743774414062, 0.17414358258247375, -2.131875991821289, -0.0, 0.0, 0.21839475631713867, -0.6124590039253235, 0.25501641631126404, -1.514648675918579, -0.5498970150947571, 1.5501258373260498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.6185625791549683, 0.29888609051704407, 2.0033187866210938, 0.1680399775505066, -2.1322574615478516, -0.0, 0.0, 0.20122835040092468, -0.6456473469734192, 0.24280919134616852, -1.514648675918579, -0.5819409489631653, 1.5501258373260498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.6162737607955933, 0.2969787120819092, 2.0040817260742188, 0.16269932687282562, -2.1322574615478516, -0.0, 0.0, 0.19207294285297394, -0.6815060377120972, 0.23632410168647766, -1.514648675918579, -0.6025406122207642, 1.5501258373260498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.613603413105011, 0.2958342730998993, 2.0040817260742188, 0.15354390442371368, -2.132638931274414, -0.0, 0.0, 0.18825818598270416, -0.7230868935585022, 0.23289081454277039, -1.5150301456451416, -0.6288624405860901, 1.5501258373260498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.612077534198761, 0.2950713336467743, 2.0040817260742188, 0.14705882966518402, -2.132638931274414, -0.0, 0.0, 0.18558785319328308, -0.7665750980377197, 0.2309834510087967, -1.514648675918579, -0.6445029377937317, 1.5501258373260498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.6109330654144287, 0.2950713336467743, 2.0040817260742188, 0.14248111844062805, -2.133402109146118, -0.0, 0.0, 0.1848248988389969, -0.813115119934082, 0.2290760725736618, -1.514648675918579, -0.647173285484314, 1.5501258373260498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.6097886562347412, 0.2950713336467743, 2.0040817260742188, 0.134470134973526, -2.134165048599243, -0.0, 0.0, 0.1840619444847107, -0.846684992313385, 0.2283131182193756, -1.514648675918579, -0.6273365616798401, 1.5501258373260498, -0.0030192022677510977, 0.0030192022677510977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.6090257167816162, 0.2950713336467743, 2.0040817260742188, 0.13027389347553253, -2.134165048599243, -0.0, 0.0, 0.1840619444847107, -0.8653773069381714, 0.2283131182193756, -1.514648675918579, -0.6074998378753662, 1.5501258373260498, -0.0030242244247347116, 0.0030242244247347116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.6097886562347412, 0.2950713336467743, 2.0040817260742188, 0.12684062123298645, -2.134165048599243, -0.0, 0.0, 0.1840619444847107, -0.8749141693115234, 0.2283131182193756, -1.514648675918579, -0.5811780095100403, 1.5501258373260498, -0.004093389492481947, 0.004093389492481947], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.6113145351409912, 0.2950713336467743, 2.0040817260742188, 0.12569619715213776, -2.134165048599243, -0.0, 0.0, 0.1840619444847107, -0.8798733353614807, 0.2283131182193756, -1.514648675918579, -0.5529488325119019, 1.5501258373260498, -0.008467355743050575, 0.008467355743050575], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.612077534198761, 0.2950713336467743, 2.0040817260742188, 0.12378881871700287, -2.134165048599243, -0.0, 0.0, 0.1840619444847107, -0.8783474564552307, 0.2283131182193756, -1.514648675918579, -0.5209048390388489, 1.5501258373260498, -0.012282934039831161, 0.012282934039831161], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.6132219433784485, 0.2950713336467743, 2.0040817260742188, 0.12378881871700287, -2.134165048599243, -0.0, 0.0, 0.1840619444847107, -0.8623254895210266, 0.22793163359165192, -1.514648675918579, -0.49076828360557556, 1.5501258373260498, -0.01665339805185795, 0.01665339805185795], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.6132219433784485, 0.29964902997016907, 2.0040817260742188, 0.1188296303153038, -2.1337835788726807, -0.0, 0.0, 0.1840619444847107, -0.810826301574707, 0.22793163359165192, -1.514648675918579, -0.45834288001060486, 1.5497443675994873, -0.016835611313581467, 0.016835611313581467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.614366352558136, 0.32101166248321533, 2.0037002563476562, 0.0875486359000206, -2.1330206394195557, -0.0, 0.0, 0.1844434291124344, -0.7177462577819824, 0.22793163359165192, -1.5150301456451416, -0.41332876682281494, 1.5501258373260498, -0.0059654489159584045, 0.0059654489159584045], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.6254291534423828, 0.36678874492645264, 2.0033187866210938, 0.012397955171763897, -2.134927988052368, -0.0, 0.0, 0.19207294285297394, -0.6074998378753662, 0.2283131182193756, -1.515411615371704, -0.33398184180259705, 1.5501258373260498, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.655947208404541, 0.4346913993358612, 2.0014114379882812, -0.1039520874619484, -2.184901237487793, -0.0, 0.0, 0.2286945879459381, -0.4987792670726776, 0.2290760725736618, -1.5180819034576416, -0.23250934481620789, 1.5501258373260498, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.7127870321273804, 0.5159456729888916, 2.0014114379882812, -0.2500572204589844, -2.2550926208496094, -0.0, 0.0, 0.30117493867874146, -0.41218432784080505, 0.2309834510087967, -1.5180819034576416, -0.1184481605887413, 1.5501258373260498, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8844510316848755, -0.8012893795967102, 0.6090257167816162, 1.9911116361618042, -0.4091325104236603, -2.310025215148926, -0.0, 0.0, 0.39768826961517334, -0.361066609621048, 0.23327229917049408, -1.5180819034576416, -0.012397955171763897, 1.5501258373260498, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.9111543297767639, 0.7036316394805908, 1.9155794382095337, -0.5415045619010925, -2.300488233566284, -0.0, 0.0, 0.49305713176727295, -0.3423742949962616, 0.23479819297790527, -1.5180819034576416, 0.05893797054886818, 1.5501258373260498, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8432517051696777, -1.0255969762802124, 0.7936598658561707, 1.8358510732650757, -0.6654840707778931, -2.269207239151001, -0.0, 0.0, 0.5544747114181519, -0.3397039771080017, 0.23517967760562897, -1.5180819034576416, 0.09708552807569504, 1.5501258373260498, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8222705721855164, -1.1366063356399536, 0.8737697601318359, 1.7839703559875488, -0.770771324634552, -2.249370574951172, -0.006172962952405214, 0.006172962952405214, 0.5861371755599976, -0.3393225073814392, 0.23517967760562897, -1.5180819034576416, 0.11501488089561462, 1.5501258373260498, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7944228053092957, -1.2212939262390137, 0.9237430095672607, 1.7587929964065552, -0.8337147831916809, -2.2444114685058594, -0.016548138111829758, 0.016548138111829758, 0.6036850810050964, -0.3404669165611267, 0.23517967760562897, -1.5180819034576416, 0.11463340371847153, 1.5501258373260498, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -1.27775239944458, 0.9531166553497314, 1.743533968925476, -0.881780743598938, -2.269207239151001, -0.016586394980549812, 0.016586394980549812, 0.6116960644721985, -0.3435187339782715, 0.23517967760562897, -1.5180819034576416, 0.10509651154279709, 1.5501258373260498, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7532234787940979, -1.3139925003051758, 0.9752422571182251, 1.732471227645874, -0.9287022352218628, -2.295147657394409, -0.016586394980549812, 0.016586394980549812, 0.6166552305221558, -0.35000380873680115, 0.23517967760562897, -1.517700433731079, 0.09136339277029037, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7440680265426636, -1.339551329612732, 0.996604859828949, 1.7263675928115845, -0.969520092010498, -2.314602851867676, -0.016576828435063362, 0.016576828435063362, 0.6189440488815308, -0.3557259440422058, 0.23479819297790527, -1.517700433731079, 0.07381551712751389, 1.5501258373260498, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7394903302192688, -1.356717824935913, 1.0133898258209229, 1.7248417139053345, -0.9939345121383667, -2.335965633392334, -0.01637626625597477, 0.01637626625597477, 0.6212329268455505, -0.361829549074173, 0.23403525352478027, -1.517700433731079, 0.06198977679014206, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7368200421333313, -1.3696879148483276, 1.0240710973739624, 1.7221713066101074, -1.0114823579788208, -2.351987600326538, -0.016015000641345978, 0.016015000641345978, 0.621614396572113, -0.36449989676475525, 0.23403525352478027, -1.517700433731079, 0.05207141116261482, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.735675573348999, -1.3803693056106567, 1.0290303230285645, 1.7214083671569824, -1.0267413854599, -2.3653390407562256, -0.01600552350282669, 0.01600552350282669, 0.621614396572113, -0.36564430594444275, 0.23365376889705658, -1.5173189640045166, 0.046730753034353256, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.734912633895874, -1.3887617588043213, 1.0320820808410645, 1.720263957977295, -1.0328450202941895, -2.3729686737060547, -0.014732006005942822, 0.014732006005942822, 0.621614396572113, -0.36907759308815, 0.23289081454277039, -1.5173189640045166, 0.04100862145423889, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.734912633895874, -1.3960098028182983, 1.0328450202941895, 1.7191195487976074, -1.037422776222229, -2.3805980682373047, -0.01442792546004057, 0.01442792546004057, 0.621614396572113, -0.3694590628147125, 0.23250934481620789, -1.5173189640045166, 0.03604944050312042, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7345311641693115, -1.4017318487167358, 1.0297932624816895, 1.7126344442367554, -1.0355154275894165, -2.3840315341949463, -0.01442792546004057, 0.01442792546004057, 0.621614396572113, -0.3713664412498474, 0.23250934481620789, -1.5173189640045166, 0.03147173300385475, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.734912633895874, -1.4078354835510254, 1.0275044441223145, 1.7069122791290283, -1.0297932624816895, -2.387464761734009, -0.01418067142367363, 0.01418067142367363, 0.621614396572113, -0.3725108802318573, 0.2317463904619217, -1.516937494277954, 0.02727550081908703, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7345311641693115, -1.413939118385315, 1.0233081579208374, 1.7030975818634033, -1.0275044441223145, -2.387464761734009, -0.014171541668474674, 0.014171541668474674, 0.621614396572113, -0.3759441375732422, 0.230601966381073, -1.516937494277954, 0.02536812424659729, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7345311641693115, -1.4173723459243774, 1.0179674625396729, 1.7015717029571533, -1.024452567100525, -2.387464761734009, -0.012413321062922478, 0.012413321062922478, 0.621614396572113, -0.3763256371021271, 0.2298390120267868, -1.516937494277954, 0.024223696440458298, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7345311641693115, -1.4200427532196045, 1.0122454166412354, 1.7000458240509033, -1.0225452184677124, -2.3878462314605713, -0.01002932246774435, 0.01002932246774435, 0.621614396572113, -0.37823301553726196, 0.2286945879459381, -1.516937494277954, 0.023079270496964455, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7345311641693115, -1.4215686321258545, 1.0088120698928833, 1.7000458240509033, -1.0210193395614624, -2.3878462314605713, -0.007394436746835709, 0.007394436746835709, 0.621614396572113, -0.37899595499038696, 0.22793163359165192, -1.516937494277954, 0.021171892061829567, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7345311641693115, -1.422713041305542, 1.0061417818069458, 1.6996643543243408, -1.0202564001083374, -2.388227701187134, -0.0041045271791517735, 0.0041045271791517735, 0.621614396572113, -0.37937742471694946, 0.22755016386508942, -1.516937494277954, 0.02079041674733162, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7345311641693115, -1.422713041305542, 1.0042344331741333, 1.7000458240509033, -1.0191118717193604, -2.3878462314605713, -0.004115675576031208, 0.004115675576031208, 0.621614396572113, -0.37975889444351196, 0.22755016386508942, -1.516937494277954, 0.020027466118335724, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7345311641693115, -1.418898344039917, 1.0015640258789062, 1.6996643543243408, -1.0168230533599854, -2.387464761734009, -0.004121254663914442, 0.004121254663914442, 0.621614396572113, -0.37975889444351196, 0.22755016386508942, -1.516937494277954, 0.018501564860343933, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.732623815536499, -1.4021133184432983, 0.9996566772460938, 1.7011902332305908, -1.0072861909866333, -2.3813610076904297, -0.004121254663914442, 0.004121254663914442, 0.621614396572113, -0.37975889444351196, 0.22755016386508942, -1.5165560245513916, 0.01773861236870289, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7314793467521667, -1.3658732175827026, 0.995841920375824, 1.732471227645874, -0.9836347103118896, -2.3752574920654297, -0.004115675576031208, 0.004115675576031208, 0.621614396572113, -0.38014039397239685, 0.22716869413852692, -1.5165560245513916, 0.000572213320992887, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7299534678459167, -1.3063629865646362, 0.9756237268447876, 1.7805371284484863, -0.9321355223655701, -2.371824264526367, -0.004115675576031208, 0.004115675576031208, 0.621614396572113, -0.38014039397239685, 0.23212787508964539, -1.515411615371704, -0.03032730519771576, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7295719981193542, -1.2285419702529907, 0.9233615398406982, 1.8228808641433716, -0.8352407217025757, -2.3683910369873047, -0.004115675576031208, 0.004115675576031208, 0.621614396572113, -0.3839551508426666, 0.2504386901855469, -1.5142672061920166, -0.0551232174038887, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7238498330116272, -1.1392767429351807, 0.8340963125228882, 1.8503471612930298, -0.6654840707778931, -2.3592355251312256, -0.004115675576031208, 0.004115675576031208, 0.6219958662986755, -0.39387351274490356, 0.2790493667125702, -1.513885736465454, -0.06771191209554672, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7185091972351074, -1.0603113174438477, 0.7330052852630615, 1.8663691282272339, -0.4510948359966278, -2.3233768939971924, -0.004121254663914442, 0.004121254663914442, 0.6353475451469421, -0.41256579756736755, 0.3118562698364258, -1.493667483329773, -0.07419699430465698, 1.5497443675994873, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7177462577819824, -0.994316041469574, 0.6353475451469421, 1.876668930053711, -0.2130540907382965, -2.2596704959869385, -0.004115675576031208, 0.004115675576031208, 0.6738765835762024, -0.44728007912635803, 0.34847790002822876, -1.4765011072158813, -0.08068207651376724, 1.5493628978729248, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7150759100914001, -0.9431982636451721, 0.5567635893821716, 1.8820096254348755, -0.010872052982449532, -2.199397325515747, -0.004121254663914442, 0.004121254663914442, 0.725375771522522, -0.49343863129615784, 0.38242924213409424, -1.4684901237487793, -0.08144503086805344, 1.5493628978729248, -0.00025058063329197466, 0.00025058063329197466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7150759100914001, -0.9061951637268066, 0.49496451020240784, 1.885442852973938, 0.16422522068023682, -2.144846200942993, -0.004115675576031208, 0.004115675576031208, 0.7753490209579468, -0.5300602912902832, 0.4045548141002655, -1.4646753072738647, -0.1039520874619484, 1.5497443675994873, -0.0004363503830973059, 0.0004363503830973059], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7150759100914001, -0.883306622505188, 0.4484245181083679, 1.888113260269165, 0.30041199922561646, -2.10746169090271, -0.004121254663914442, 0.004121254663914442, 0.8230335116386414, -0.5575265288352966, 0.4201953113079071, -1.4612420797348022, -0.1512550562620163, 1.5497443675994873, -0.0063173165544867516, 0.0063173165544867516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7242313027381897, -0.8710994124412537, 0.41256579756736755, 1.8884947299957275, 0.39578089118003845, -2.0853359699249268, -0.004121254663914442, 0.004121254663914442, 0.8497368097305298, -0.5781261920928955, 0.4350728690624237, -1.4578088521957397, -0.182154580950737, 1.5497443675994873, -0.01110006682574749, 0.01110006682574749], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7448310256004333, -0.8646143078804016, 0.3885328471660614, 1.88887619972229, 0.45681697130203247, -2.0555810928344727, -0.004115675576031208, 0.004115675576031208, 0.8642328381538391, -0.5937666893005371, 0.44728007912635803, -1.4578088521957397, -0.20428015291690826, 1.5497443675994873, -0.014602752402424812, 0.014602752402424812], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7688639760017395, -0.8615625500679016, 0.3755626678466797, 1.88887619972229, 0.49305713176727295, -2.031548023223877, -0.004115675576031208, 0.004115675576031208, 0.8718623518943787, -0.6074998378753662, 0.4541466534137726, -1.4574273824691772, -0.22297245264053345, 1.5497443675994873, -0.016100365668535233, 0.016100365668535233], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7932783961296082, -0.8600366115570068, 0.36793315410614014, 1.88887619972229, 0.5140383243560791, -2.0143816471099854, -0.004115675576031208, 0.004115675576031208, 0.8760585784912109, -0.6231403350830078, 0.45834288001060486, -1.4574273824691772, -0.23785001039505005, 1.5497443675994873, -0.017365766689181328, 0.017365766689181328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8196002244949341, -0.8573662638664246, 0.36373692750930786, 1.8884947299957275, 0.5254825949668884, -1.9983596801757812, -0.004115675576031208, 0.004115675576031208, 0.8772030472755432, -0.6361104846000671, 0.46063172817230225, -1.4559013843536377, -0.25577935576438904, 1.5497443675994873, -0.017549794167280197, 0.017549794167280197], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.8520256280899048, 0.361066609621048, 1.88887619972229, 0.533875048160553, -1.9800487756729126, -0.004115675576031208, 0.004115675576031208, 0.8783474564552307, -0.647173285484314, 0.46215763688087463, -1.4543755054473877, -0.26798656582832336, 1.5501258373260498, -0.017549794167280197, 0.017549794167280197], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8688105344772339, -0.8451590538024902, 0.3606851398944855, 1.8884947299957275, 0.5365453362464905, -1.9659342765808105, -0.004115675576031208, 0.004115675576031208, 0.8783474564552307, -0.6548027992248535, 0.46368351578712463, -1.4539940357208252, -0.28553444147109985, 1.5501258373260498, -0.017549794167280197, 0.017549794167280197], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.883306622505188, -0.8413442969322205, 0.3591592311859131, 1.8884947299957275, 0.536926805973053, -1.9586862325668335, -0.004115675576031208, 0.004115675576031208, 0.8787289261817932, -0.6601434350013733, 0.4655908942222595, -1.4543755054473877, -0.29926756024360657, 1.5501258373260498, -0.01754009909927845, 0.01754009909927845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8985656499862671, -0.840962827205658, 0.3576333224773407, 1.8884947299957275, 0.5373083353042603, -1.953345537185669, -0.004115675576031208, 0.004115675576031208, 0.8787289261817932, -0.6639581918716431, 0.4667353332042694, -1.4543755054473877, -0.30537116527557373, 1.5501258373260498, -0.014991587027907372, 0.014991587027907372], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9126802682876587, -0.84592205286026, 0.3576333224773407, 1.888113260269165, 0.536926805973053, -1.9514381885528564, -0.004115675576031208, 0.004115675576031208, 0.8787289261817932, -0.6662470698356628, 0.4674982726573944, -1.4547569751739502, -0.3126192092895508, 1.5501258373260498, -0.00780757749453187, 0.00780757749453187], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9210727214813232, -0.8512626886367798, 0.3576333224773407, 1.8877317905426025, 0.536163866519928, -1.9480048418045044, -0.004115675576031208, 0.004115675576031208, 0.8813992738723755, -0.6673914790153503, 0.4674982726573944, -1.4574273824691772, -0.3126192092895508, 1.5539406538009644, -0.004804801661521196, 0.004804801661521196], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.925650417804718, -0.8543145060539246, 0.3576333224773407, 1.883916974067688, 0.5357823967933655, -1.9480048418045044, -0.004115675576031208, 0.004115675576031208, 0.8806362748146057, -0.6689173579216003, 0.4674982726573944, -1.4543755054473877, -0.3122377395629883, 1.5543221235275269, -0.004804801661521196, 0.004804801661521196], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9290837049484253, -0.8543145060539246, 0.3572518527507782, 1.8850613832473755, 0.5319676399230957, -1.9480048418045044, -0.007338196970522404, 0.007338196970522404, 0.8791103959083557, -0.6689173579216003, 0.4674982726573944, -1.4589532613754272, -0.31452658772468567, 1.5459296703338623, -0.004804801661521196, 0.004804801661521196], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9313725233078003, -0.8531700372695923, 0.3572518527507782, 1.88887619972229, 0.5319676399230957, -1.948386311531067, -0.019440295174717903, 0.019440295174717903, 0.8768215179443359, -0.6670100092887878, 0.4674982726573944, -1.4539940357208252, -0.31910428404808044, 1.5470740795135498, -0.004804801661521196, 0.004804801661521196], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9309910535812378, -0.8485923409461975, 0.3572518527507782, 1.8884947299957275, 0.5239566564559937, -1.9480048418045044, -0.024191096425056458, 0.024191096425056458, 0.8798733353614807, -0.6620507836341858, 0.4674982726573944, -1.4593347311019897, -0.31986725330352783, 1.5463111400604248, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9309910535812378, -0.8367666006088257, 0.3568703830242157, 1.8884947299957275, 0.4976348578929901, -1.9480048418045044, -0.024161411449313164, 0.024161411449313164, 0.8585107326507568, -0.655184268951416, 0.4667353332042694, -1.4623864889144897, -0.32520791888237, 1.5470740795135498, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9290837049484253, -0.8146410584449768, 0.3557259440422058, 1.888113260269165, 0.4507133662700653, -1.9480048418045044, -0.008281816728413105, 0.008281816728413105, 0.7970931529998779, -0.6441214680671692, 0.45796138048171997, -1.4673457145690918, -0.3274967670440674, 1.5474555492401123, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.925650417804718, -0.7841230034828186, 0.35152971744537354, 1.888113260269165, 0.3931105434894562, -1.9480048418045044, -0.0, 0.0, 0.6952391862869263, -0.6265735626220703, 0.4404135048389435, -1.4742122888565063, -0.3286411762237549, 1.5489814281463623, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.918402373790741, -0.7520790696144104, 0.3419928252696991, 1.888113260269165, 0.34809643030166626, -1.9480048418045044, -0.0, 0.0, 0.570496678352356, -0.6071183085441589, 0.41447317600250244, -1.4734493494033813, -0.33550775051116943, 1.5501258373260498, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9096284508705139, -0.7272831201553345, 0.33245593309402466, 1.8877317905426025, 0.3110933005809784, -1.9480048418045044, -0.0, 0.0, 0.4526207447052002, -0.5930037498474121, 0.37823301553726196, -1.4742122888565063, -0.3606851398944855, 1.5501258373260498, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9039062857627869, -0.7085908055305481, 0.325970858335495, 1.8877317905426025, 0.2805752754211426, -1.9480048418045044, -0.0, 0.0, 0.34885939955711365, -0.5857557058334351, 0.3412298858165741, -1.4761196374893188, -0.39692530035972595, 1.5501258373260498, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9012359976768494, -0.6967650651931763, 0.3217746317386627, 1.88735032081604, 0.2569237947463989, -1.9480048418045044, -0.0, 0.0, 0.27103838324546814, -0.5830853581428528, 0.30537116527557373, -1.4761196374893188, -0.4198138415813446, 1.5501258373260498, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, -0.691042959690094, 0.31948578357696533, 1.88735032081604, 0.23594263195991516, -1.9480048418045044, -0.0, 0.0, 0.22259098291397095, -0.5895704627037048, 0.2641718089580536, -1.4765011072158813, -0.4541466534137726, 1.5501258373260498, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8981841802597046, -0.6872282028198242, 0.31719690561294556, 1.88735032081604, 0.22602425515651703, -1.9480048418045044, -0.0, 0.0, 0.1974135935306549, -0.6109330654144287, 0.2302204966545105, -1.4761196374893188, -0.5033569931983948, 1.5501258373260498, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -0.6853207945823669, 0.31643396615982056, 1.88735032081604, 0.22068360447883606, -1.9480048418045044, -0.0, 0.0, 0.18520638346672058, -0.6437399983406067, 0.20847637951374054, -1.4765011072158813, -0.5365453362464905, 1.5501258373260498, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -0.6849393248558044, 0.31567102670669556, 1.88735032081604, 0.2157244235277176, -1.947623372077942, -0.0, 0.0, 0.17795833945274353, -0.6826505064964294, 0.1966506391763687, -1.4761196374893188, -0.5582894682884216, 1.5501258373260498, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -0.6845578551292419, 0.31490805745124817, 1.88735032081604, 0.20885786414146423, -1.947623372077942, -0.0, 0.0, 0.17414358258247375, -0.7177462577819824, 0.19016556441783905, -1.4765011072158813, -0.5750743746757507, 1.5501258373260498, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -0.6834134459495544, 0.3133821487426758, 1.88735032081604, 0.20160982012748718, -1.947623372077942, -0.0, 0.0, 0.17299915850162506, -0.7524605393409729, 0.1836804747581482, -1.4765011072158813, -0.5823224186897278, 1.5501258373260498, -0.004798893816769123, 0.004798893816769123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -0.6826505064964294, 0.3130006790161133, 1.88735032081604, 0.1958876997232437, -1.947623372077942, -0.0, 0.0, 0.17185473442077637, -0.7879377603530884, 0.17986571788787842, -1.4765011072158813, -0.5888075232505798, 1.5501258373260498, -0.004822542425245047, 0.004822542425245047], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -0.6826505064964294, 0.3126192092895508, 1.88735032081604, 0.19321736693382263, -1.947623372077942, -0.0, 0.0, 0.17185473442077637, -0.8176928162574768, 0.17719538509845734, -1.4765011072158813, -0.5926222801208496, 1.5501258373260498, -0.006212195847183466, 0.006212195847183466], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -0.6826505064964294, 0.3126192092895508, 1.88735032081604, 0.19092851877212524, -1.947623372077942, -0.0, 0.0, 0.17185473442077637, -0.8352407217025757, 0.17566949129104614, -1.4768825769424438, -0.5941481590270996, 1.5501258373260498, -0.009893637150526047, 0.009893637150526047], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -0.6826505064964294, 0.3126192092895508, 1.88735032081604, 0.18940261006355286, -1.947623372077942, -0.0, 0.0, 0.17185473442077637, -0.837911069393158, 0.17299915850162506, -1.4768825769424438, -0.5960555672645569, 1.5501258373260498, -0.01315286010503769, 0.01315286010503769], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -0.6826505064964294, 0.3126192092895508, 1.88735032081604, 0.1832990050315857, -1.947623372077942, -0.0, 0.0, 0.17185473442077637, -0.8157854676246643, 0.17071031033992767, -1.4772640466690063, -0.5907148718833923, 1.5501258373260498, -0.017105020582675934, 0.017105020582675934], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -0.6830319762229919, 0.31795987486839294, 1.8877317905426025, 0.17414358258247375, -1.953345537185669, -0.0, 0.0, 0.17948424816131592, -0.7444495558738708, 0.17452506721019745, -1.4784084558486938, -0.5453193187713623, 1.5501258373260498, -0.013771768659353256, 0.013771768659353256], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8943694233894348, -0.6960021257400513, 0.35191118717193604, 1.88735032081604, 0.12645913660526276, -2.0265889167785645, -0.0, 0.0, 0.20618753135204315, -0.6399252414703369, 0.1962691694498062, -1.481078863143921, -0.44193941354751587, 1.5501258373260498, -0.0048521654680371284, 0.0048521654680371284], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.889028787612915, -0.7383459210395813, 0.4240100681781769, 1.884679913520813, 0.013542382046580315, -2.134165048599243, -0.0, 0.0, 0.248531311750412, -0.536926805973053, 0.22068360447883606, -1.481078863143921, -0.31948578357696533, 1.5501258373260498, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8867399096488953, -0.8180742859840393, 0.5308232307434082, 1.884679913520813, -0.13752193748950958, -2.2268636226654053, -0.0, 0.0, 0.309567391872406, -0.4530022144317627, 0.23937590420246124, -1.4814603328704834, -0.20580606162548065, 1.5501258373260498, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8760585784912109, -0.9328984618186951, 0.6628137826919556, 1.8537803888320923, -0.3233005404472351, -2.2863736152648926, -0.0, 0.0, 0.3740367889404297, -0.39768826961517334, 0.25196459889411926, -1.4822232723236084, -0.11158160120248795, 1.5501258373260498, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.848210871219635, -1.0713740587234497, 0.7997635006904602, 1.737048864364624, -0.4976348578929901, -2.2604334354400635, -0.004160380456596613, 0.004160380456596613, 0.42820629477500916, -0.36755168437957764, 0.2588311731815338, -1.481841802597046, -0.04634927958250046, 1.5501258373260498, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8310444951057434, -1.2037460803985596, 0.9164950251579285, 1.6348134279251099, -0.6403067111968994, -2.223811626434326, -0.012728339061141014, 0.012728339061141014, 0.45834288001060486, -0.35152971744537354, 0.2622644305229187, -1.481841802597046, -0.005531395319849253, 1.5497443675994873, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8222705721855164, -1.2983520030975342, 0.994316041469574, 1.5802624225616455, -0.7303349375724792, -2.213893413543701, -0.017278751358389854, 0.017278751358389854, 0.47398337721824646, -0.3423742949962616, 0.2641718089580536, -1.4814603328704834, 0.01506828423589468, 1.5501258373260498, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8165484070777893, -1.3616769313812256, 1.043907880783081, 1.559281349182129, -0.7864118218421936, -2.2283895015716553, -0.017278751358389854, 0.017278751358389854, 0.4839017391204834, -0.3374151289463043, 0.2645532786846161, -1.481078863143921, 0.027656977996230125, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8207446336746216, -1.4032578468322754, 1.0782406330108643, 1.5970473289489746, -0.8463035225868225, -2.2917144298553467, -0.017259428277611732, 0.017259428277611732, 0.4869535267353058, -0.33512628078460693, 0.2645532786846161, -1.481078863143921, 0.03528648987412453, 1.5501258373260498, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, -1.426909327507019, 1.0969328880310059, 1.6355763673782349, -0.8974212408065796, -2.346646785736084, -0.01724976859986782, 0.01724976859986782, 0.49076828360557556, -0.33436331152915955, 0.2645532786846161, -1.481078863143921, 0.03757534176111221, 1.5497443675994873, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8245593905448914, -1.4433127641677856, 1.1125733852386475, 1.656557559967041, -0.9187838435173035, -2.384413003921509, -0.01724976859986782, 0.01724976859986782, 0.49076828360557556, -0.33588922023773193, 0.2645532786846161, -1.481078863143921, 0.03452353551983833, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8279926776885986, -1.4559013843536377, 1.1270694732666016, 1.6691462993621826, -0.9290837049484253, -2.4046311378479004, -0.01724976859986782, 0.01724976859986782, 0.49191272258758545, -0.3397039771080017, 0.2641718089580536, -1.481078863143921, 0.02727550081908703, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8321889042854309, -1.4662013053894043, 1.1354619264602661, 1.6760128736495972, -0.9313725233078003, -2.4160754680633545, -0.01724976859986782, 0.01724976859986782, 0.49191272258758545, -0.3423742949962616, 0.2630273997783661, -1.481078863143921, 0.020027466118335724, 1.5497443675994873, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8356221914291382, -1.4757381677627563, 1.1396582126617432, 1.6790646314620972, -0.9340428709983826, -2.4237048625946045, -0.01724010892212391, 0.01724010892212391, 0.49191272258758545, -0.343137264251709, 0.2618829607963562, -1.481078863143921, 0.01506828423589468, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8375295400619507, -1.4852750301361084, 1.1419470310211182, 1.6821163892745972, -0.9344243407249451, -2.427138090133667, -0.01693170890212059, 0.01693170890212059, 0.49191272258758545, -0.3435187339782715, 0.2615014910697937, -1.481078863143921, 0.011635004542768002, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8375295400619507, -1.4955748319625854, 1.1434729099273682, 1.6828793287277222, -0.9340428709983826, -2.4298086166381836, -0.016366731375455856, 0.016366731375455856, 0.49191272258758545, -0.344663143157959, 0.2615014910697937, -1.4806973934173584, 0.010872052982449532, 1.5497443675994873, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -1.5077821016311646, 1.1446174383163452, 1.6832607984542847, -0.9309910535812378, -2.4328603744506836, -0.016366731375455856, 0.016366731375455856, 0.49191272258758545, -0.344663143157959, 0.2611200213432312, -1.481078863143921, 0.010490577667951584, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -1.5207523107528687, 1.1453803777694702, 1.6851682662963867, -0.9309910535812378, -2.4328603744506836, -0.016366731375455856, 0.016366731375455856, 0.49191272258758545, -0.344663143157959, 0.2615014910697937, -1.4806973934173584, 0.009346150793135166, 1.5497443675994873, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -1.5306706428527832, 1.1461433172225952, 1.6851682662963867, -0.927176296710968, -2.4328603744506836, -0.016338134184479713, 0.016338134184479713, 0.49191272258758545, -0.34504464268684387, 0.2611200213432312, -1.4806973934173584, 0.00667582219466567, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -1.5367742776870728, 1.1472877264022827, 1.6851682662963867, -0.9229800701141357, -2.4328603744506836, -0.01386228483170271, 0.01386228483170271, 0.49191272258758545, -0.34695202112197876, 0.2599755823612213, -1.4806973934173584, 0.006294346414506435, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -1.5405889749526978, 1.1476691961288452, 1.6851682662963867, -0.919165313243866, -2.4328603744506836, -0.010826201178133488, 0.010826201178133488, 0.49191272258758545, -0.34695202112197876, 0.2576867341995239, -1.4806973934173584, 0.00667582219466567, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -1.5421148538589478, 1.1476691961288452, 1.6851682662963867, -0.9138246774673462, -2.432478904724121, -0.00828920491039753, 0.00828920491039753, 0.49191272258758545, -0.34695202112197876, 0.2569237947463989, -1.4806973934173584, 0.00667582219466567, 1.5497443675994873, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -1.5424963235855103, 1.1476691961288452, 1.6855497360229492, -0.9126802682876587, -2.432478904724121, -0.007887001149356365, 0.007887001149356365, 0.49191272258758545, -0.34809643030166626, 0.25616082549095154, -1.4803158044815063, 0.00667582219466567, 1.5493628978729248, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8375295400619507, -1.5398260354995728, 1.1461433172225952, 1.6851682662963867, -0.9130617380142212, -2.4320974349975586, -0.007887001149356365, 0.007887001149356365, 0.49191272258758545, -0.34885939955711365, 0.25539788603782654, -1.4803158044815063, 0.00667582219466567, 1.5493628978729248, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8340963125228882, -1.5295262336730957, 1.1438543796539307, 1.6851682662963867, -0.9126802682876587, -2.424086332321167, -0.007879766635596752, 0.007879766635596752, 0.49191272258758545, -0.34885939955711365, 0.25501641631126404, -1.4803158044815063, 0.005912871100008488, 1.5493628978729248, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8241779208183289, -1.505111813545227, 1.1388952732086182, 1.6855497360229492, -0.9107728600502014, -2.4084458351135254, -0.007879766635596752, 0.007879766635596752, 0.49191272258758545, -0.34885939955711365, 0.25501641631126404, -1.4803158044815063, 0.005912871100008488, 1.5497443675994873, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8096818327903748, -1.4543755054473877, 1.1110475063323975, 1.6863126754760742, -0.8745326995849609, -2.3847944736480713, -0.007887001149356365, 0.007887001149356365, 0.49191272258758545, -0.34924086928367615, 0.25501641631126404, -1.4803158044815063, 0.005912871100008488, 1.5497443675994873, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7917525172233582, -1.3666361570358276, 1.037422776222229, 1.6863126754760742, -0.767719566822052, -2.3569467067718506, -0.007887001149356365, 0.007887001149356365, 0.49191272258758545, -0.35000380873680115, 0.2573052644729614, -1.4799343347549438, 0.005531395319849253, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7738231420516968, -1.258297085762024, 0.925650417804718, 1.6870756149291992, -0.6067368388175964, -2.3058290481567383, -0.007879766635596752, 0.007879766635596752, 0.49191272258758545, -0.35114824771881104, 0.2626459002494812, -1.4799343347549438, 0.004005493130534887, 1.5497443675994873, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -1.1438543796539307, 0.8020523190498352, 1.6870756149291992, -0.42668038606643677, -2.2322041988372803, -0.007887001149356365, 0.007887001149356365, 0.5052643418312073, -0.3553444743156433, 0.272945761680603, -1.4787899255752563, 0.0032425422687083483, 1.5497443675994873, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7623788714408875, -1.036659836769104, 0.6811245679855347, 1.6870756149291992, -0.2500572204589844, -2.1597237586975098, -0.007879766635596752, 0.007879766635596752, 0.5498970150947571, -0.36793315410614014, 0.28896772861480713, -1.4772640466690063, -0.01125352829694748, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7623788714408875, -0.9370946884155273, 0.5674448609352112, 1.6878385543823242, -0.0711451917886734, -2.0971617698669434, -0.007887001149356365, 0.007887001149356365, 0.6105515956878662, -0.39387351274490356, 0.3068970739841461, -1.4772640466690063, -0.03795681521296501, 1.5497443675994873, -0.0002816991473082453, 0.0002816991473082453], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7722972631454468, -0.8638513684272766, 0.4869535267353058, 1.6878385543823242, 0.051689937710762024, -2.0448997020721436, -0.007879766635596752, 0.007879766635596752, 0.6815060377120972, -0.43011367321014404, 0.33093002438545227, -1.4768825769424438, -0.07381551712751389, 1.5497443675994873, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7932783961296082, -0.805867075920105, 0.4182879328727722, 1.6878385543823242, 0.1527809500694275, -1.9846265316009521, -0.007879766635596752, 0.007879766635596752, 0.7413977384567261, -0.46330204606056213, 0.3534370958805084, -1.4768825769424438, -0.10738536715507507, 1.5497443675994873, -0.00029558545793406665, 0.00029558545793406665], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8180742859840393, -0.7738231420516968, 0.36449989676475525, 1.6897459030151367, 0.2504386901855469, -1.9323643445968628, -0.007879766635596752, 0.007879766635596752, 0.7902265787124634, -0.49076828360557556, 0.3717479109764099, -1.4772640466690063, -0.14667734503746033, 1.5497443675994873, -0.007887001149356365, 0.007887001149356365], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -0.7593270540237427, 0.3271152675151825, 1.6897459030151367, 0.33550775051116943, -1.9010833501815796, -0.007879766635596752, 0.007879766635596752, 0.8192187547683716, -0.506790280342102, 0.3850995600223541, -1.4768825769424438, -0.17681391537189484, 1.5497443675994873, -0.014308701269328594, 0.014308701269328594], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8623254895210266, -0.7578011751174927, 0.3068970739841461, 1.6893644332885742, 0.3931105434894562, -1.8804837465286255, -0.007879766635596752, 0.007879766635596752, 0.8356221914291382, -0.5167086124420166, 0.39539939165115356, -1.4772640466690063, -0.19321736693382263, 1.5497443675994873, -0.01865249313414097, 0.01865249313414097], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8836880922317505, -0.770771324634552, 0.2962157726287842, 1.6889829635620117, 0.44804301857948303, -1.8636988401412964, -0.007879766635596752, 0.007879766635596752, 0.8455405235290527, -0.5239566564559937, 0.4011215269565582, -1.4768825769424438, -0.20160982012748718, 1.5497443675994873, -0.020401284098625183, 0.020401284098625183], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9000915288925171, -0.7894636392593384, 0.291638046503067, 1.6886014938354492, 0.4999237060546875, -1.8511101007461548, -0.007887001149356365, 0.007887001149356365, 0.8516441583633423, -0.5308232307434082, 0.404173344373703, -1.4768825769424438, -0.20771344006061554, 1.5501258373260498, -0.020928218960762024, 0.020928218960762024], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9088655114173889, -0.8081559538841248, 0.2904936373233795, 1.6870756149291992, 0.54112309217453, -1.8430991172790527, -0.007887001149356365, 0.007887001149356365, 0.8546959757804871, -0.535400927066803, 0.4056992530822754, -1.4768825769424438, -0.2138170450925827, 1.5501258373260498, -0.020928218960762024, 0.020928218960762024], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9142061471939087, -0.8241779208183289, 0.2924010157585144, 1.6863126754760742, 0.571259617805481, -1.8396657705307007, -0.007887001149356365, 0.007887001149356365, 0.8573662638664246, -0.5395971536636353, 0.4068436622619629, -1.4768825769424438, -0.2149614691734314, 1.5501258373260498, -0.020938169211149216, 0.020938169211149216], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.918402373790741, -0.8348592519760132, 0.2962157726287842, 1.6863126754760742, 0.5952925682067871, -1.8362325429916382, -0.007879766635596752, 0.007879766635596752, 0.8577477931976318, -0.5464637279510498, 0.4072251319885254, -1.4768825769424438, -0.2153429538011551, 1.5501258373260498, -0.02175486832857132, 0.02175486832857132], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9225986003875732, -0.8428702354431152, 0.29888609051704407, 1.6863126754760742, 0.6094071865081787, -1.8358510732650757, -0.007887001149356365, 0.007887001149356365, 0.8585107326507568, -0.5552376508712769, 0.4072251319885254, -1.4768825769424438, -0.22068360447883606, 1.5501258373260498, -0.021784763783216476, 0.021784763783216476], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.927176296710968, -0.8512626886367798, 0.30079346895217896, 1.6866941452026367, 0.615129292011261, -1.8358510732650757, -0.007879766635596752, 0.007879766635596752, 0.8585107326507568, -0.5643930435180664, 0.4072251319885254, -1.4768825769424438, -0.22678720951080322, 1.5501258373260498, -0.021794728934764862, 0.021794728934764862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9309910535812378, -0.8600366115570068, 0.30346378684043884, 1.6866941452026367, 0.6212329268455505, -1.8354696035385132, -0.007887001149356365, 0.007887001149356365, 0.8585107326507568, -0.5739299654960632, 0.4076066315174103, -1.4768825769424438, -0.23746852576732635, 1.5501258373260498, -0.021794728934764862, 0.021794728934764862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9336614012718201, -0.8714808821678162, 0.308804452419281, 1.6866941452026367, 0.6231403350830078, -1.8335622549057007, -0.007879766635596752, 0.007879766635596752, 0.8585107326507568, -0.5838482975959778, 0.40951400995254517, -1.4768825769424438, -0.2454795092344284, 1.5501258373260498, -0.021794728934764862, 0.021794728934764862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9409094452857971, -0.8844510316848755, 0.31567102670669556, 1.6866941452026367, 0.6258106231689453, -1.8331807851791382, -0.007887001149356365, 0.007887001149356365, 0.8585107326507568, -0.5956740379333496, 0.41218432784080505, -1.4768825769424438, -0.2481498420238495, 1.5501258373260498, -0.021794728934764862, 0.021794728934764862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9496833682060242, -0.9008545279502869, 0.3244449496269226, 1.6870756149291992, 0.6258106231689453, -1.8331807851791382, -0.007879766635596752, 0.007879766635596752, 0.8585107326507568, -0.6071183085441589, 0.41561761498451233, -1.4772640466690063, -0.25234606862068176, 1.5501258373260498, -0.021794728934764862, 0.021794728934764862], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9584572911262512, -0.918402373790741, 0.33436331152915955, 1.6866941452026367, 0.6258106231689453, -1.8331807851791382, -0.007887001149356365, 0.007887001149356365, 0.8585107326507568, -0.6177996397018433, 0.4194323718547821, -1.4772640466690063, -0.2569237947463989, 1.5501258373260498, -0.021784763783216476, 0.021784763783216476], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9657053351402283, -0.9332799315452576, 0.3435187339782715, 1.6870756149291992, 0.6261920928955078, -1.8331807851791382, -0.007879766635596752, 0.007879766635596752, 0.8585107326507568, -0.6254291534423828, 0.422102689743042, -1.4772640466690063, -0.2595941126346588, 1.5501258373260498, -0.017666244879364967, 0.017666244879364967], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.968757152557373, -0.9443427324295044, 0.35114824771881104, 1.6866941452026367, 0.6265735626220703, -1.8331807851791382, -0.007879766635596752, 0.007879766635596752, 0.8585107326507568, -0.6292439103126526, 0.4243915379047394, -1.4768825769424438, -0.2603570520877838, 1.5558480024337769, -0.009822113439440727, 0.009822113439440727], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.970283031463623, -0.951972246170044, 0.3568703830242157, 1.6886014938354492, 0.6269550919532776, -1.8408102989196777, -0.007879766635596752, 0.007879766635596752, 0.8600366115570068, -0.6311513185501099, 0.42553597688674927, -1.487182378768921, -0.2611200213432312, 1.5539406538009644, -0.009593113325536251, 0.009593113325536251], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9725719094276428, -0.9573128819465637, 0.3603036403656006, 1.6893644332885742, 0.6273365616798401, -1.8553062677383423, -0.007887001149356365, 0.007887001149356365, 0.8600366115570068, -0.6330586671829224, 0.42553597688674927, -1.5077821016311646, -0.2626459002494812, 1.5535591840744019, -0.009577403776347637, 0.009577403776347637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9725719094276428, -0.9603646993637085, 0.36335545778274536, 1.6863126754760742, 0.6292439103126526, -1.8629357814788818, -0.011587965302169323, 0.011587965302169323, 0.8596551418304443, -0.6330586671829224, 0.42553597688674927, -1.5245670080184937, -0.26760509610176086, 1.5466926097869873, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9725719094276428, -0.961509108543396, 0.36488136649131775, 1.6863126754760742, 0.6376363635063171, -1.8675135374069214, -0.023198962211608887, 0.023198962211608887, 0.8585107326507568, -0.6330586671829224, 0.42591744661331177, -1.5299077033996582, -0.2782863974571228, 1.5470740795135498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9725719094276428, -0.9603646993637085, 0.36526283621788025, 1.6863126754760742, 0.6452658772468567, -1.8705652952194214, -0.02872302569448948, 0.02872302569448948, 0.8588922023773193, -0.6311513185501099, 0.42591744661331177, -1.5386816263198853, -0.2935454249382019, 1.5470740795135498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9721904397010803, -0.9500648379325867, 0.361066609621048, 1.6863126754760742, 0.6513695120811462, -1.872091293334961, -0.029129836708307266, 0.029129836708307266, 0.8512626886367798, -0.6269550919532776, 0.42591744661331177, -1.5402075052261353, -0.308804452419281, 1.5474555492401123, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.967994213104248, -0.926413357257843, 0.35191118717193604, 1.6863126754760742, 0.6399252414703369, -1.8739986419677734, -0.02329838275909424, 0.02329838275909424, 0.8085374236106873, -0.620851457118988, 0.4217212200164795, -1.5409704446792603, -0.31605249643325806, 1.5482184886932373, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9584572911262512, -0.8894102573394775, 0.33169299364089966, 1.6866941452026367, 0.6242847442626953, -1.8739986419677734, -0.008722472004592419, 0.008722472004592419, 0.724612832069397, -0.6101701259613037, 0.41027694940567017, -1.5447852611541748, -0.32024872303009033, 1.5501258373260498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9420538544654846, -0.8428702354431152, 0.3068970739841461, 1.6866941452026367, 0.6013962030410767, -1.8739986419677734, -0.0, 0.0, 0.6082627773284912, -0.5964370369911194, 0.3927290737628937, -1.5485999584197998, -0.3236820101737976, 1.5501258373260498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.7940413355827332, 0.28286412358283997, 1.6866941452026367, 0.5651560425758362, -1.8739986419677734, -0.0, 0.0, 0.4850461483001709, -0.5853742361068726, 0.36717021465301514, -1.5485999584197998, -0.33169299364089966, 1.5501258373260498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9107728600502014, -0.7539864182472229, 0.264934778213501, 1.6863126754760742, 0.5231937170028687, -1.8739986419677734, -0.0, 0.0, 0.3717479109764099, -0.5804150700569153, 0.3286411762237549, -1.5516518354415894, -0.3717479109764099, 1.5501258373260498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9031433463096619, -0.7303349375724792, 0.25349050760269165, 1.6863126754760742, 0.4888609051704407, -1.8739986419677734, -0.0, 0.0, 0.28896772861480713, -0.5838482975959778, 0.290112167596817, -1.5520333051681519, -0.42782482504844666, 1.5501258373260498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8993285894393921, -0.7200350761413574, 0.2473868876695633, 1.6866941452026367, 0.4701686203479767, -1.8739986419677734, -0.0, 0.0, 0.23708705604076385, -0.5979629158973694, 0.2595941126346588, -1.5512703657150269, -0.4697871506214142, 1.5501258373260498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8966583013534546, -0.7146944403648376, 0.2443350851535797, 1.6866941452026367, 0.4549095928668976, -1.8739986419677734, -0.0, 0.0, 0.21038375794887543, -0.6265735626220703, 0.230601966381073, -1.5478370189666748, -0.5148012638092041, 1.5501258373260498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8955138325691223, -0.7112611532211304, 0.24242770671844482, 1.6866941452026367, 0.440032035112381, -1.8739986419677734, -0.0, 0.0, 0.19512474536895752, -0.6635767221450806, 0.20351719856262207, -1.5173189640045166, -0.5773632526397705, 1.5501258373260498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8955138325691223, -0.7078278660774231, 0.24013885855674744, 1.6866941452026367, 0.42820629477500916, -1.8739986419677734, -0.0, 0.0, 0.18749523162841797, -0.697528064250946, 0.182154580950737, -1.4814603328704834, -0.6269550919532776, 1.5501258373260498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, -0.7051575779914856, 0.23899443447589874, 1.6866941452026367, 0.422102689743042, -1.8739986419677734, -0.0, 0.0, 0.1840619444847107, -0.7314793467521667, 0.1684214472770691, -1.4597162008285522, -0.6631952524185181, 1.5501258373260498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, -0.7043945789337158, 0.23861294984817505, 1.6866941452026367, 0.41561761498451233, -1.8739986419677734, -0.0, 0.0, 0.1810101419687271, -0.769245445728302, 0.15964750945568085, -1.4459830522537231, -0.6803616285324097, 1.5501258373260498, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, -0.7043945789337158, 0.23823148012161255, 1.6866941452026367, 0.41485464572906494, -1.8739986419677734, -0.0, 0.0, 0.1802472025156021, -0.80357825756073, 0.1527809500694275, -1.438735008239746, -0.6906614899635315, 1.5505073070526123, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8951323628425598, -0.7043945789337158, 0.23823148012161255, 1.6866941452026367, 0.41256579756736755, -1.8739986419677734, -0.0, 0.0, 0.1802472025156021, -0.8211261034011841, 0.14705882966518402, -1.435683250427246, -0.6891355514526367, 1.5505073070526123, -0.009663942269980907, 0.009663942269980907], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, -0.7028687000274658, 0.23823148012161255, 1.6870756149291992, 0.41142138838768005, -1.8739986419677734, -0.0, 0.0, 0.1802472025156021, -0.8215075731277466, 0.14324407279491425, -1.432249903678894, -0.6666285395622253, 1.5501258373260498, -0.014107683673501015, 0.014107683673501015], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8802548050880432, -0.6937133073806763, 0.23746852576732635, 1.6870756149291992, 0.41142138838768005, -1.8739986419677734, -0.0, 0.0, 0.1802472025156021, -0.7959487438201904, 0.14133669435977936, -1.432249903678894, -0.6277180314064026, 1.5501258373260498, -0.017889894545078278, 0.017889894545078278], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8607995510101318, -0.6704432964324951, 0.23365376889705658, 1.6870756149291992, 0.41142138838768005, -1.8739986419677734, -0.0, 0.0, 0.1802472025156021, -0.7463569045066833, 0.14095520973205566, -1.4333943128585815, -0.5937666893005371, 1.5501258373260498, -0.018799809738993645, 0.018799809738993645], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8375295400619507, -0.6319142580032349, 0.22487983107566833, 1.6866941452026367, 0.4091325104236603, -1.8739986419677734, -0.0, 0.0, 0.1802472025156021, -0.6803616285324097, 0.1508735716342926, -1.4421683549880981, -0.5437933802604675, 1.5505073070526123, -0.018623054027557373, 0.018623054027557373], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8173113465309143, -0.5838482975959778, 0.21725031733512878, 1.6870756149291992, 0.37937742471694946, -1.8732357025146484, -0.0, 0.0, 0.18978407979011536, -0.6101701259613037, 0.19321736693382263, -1.4627679586410522, -0.42782482504844666, 1.5501258373260498, -0.009374150075018406, 0.009374150075018406], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8001449704170227, -0.5247195959091187, 0.21152819693088531, 1.6866941452026367, 0.31834134459495544, -1.8430991172790527, -0.0, 0.0, 0.23670557141304016, -0.5609598159790039, 0.265697717666626, -1.4772640466690063, -0.2779049277305603, 1.5501258373260498, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7906080484390259, -0.47550925612449646, 0.20923933386802673, 1.6866941452026367, 0.2637903392314911, -1.806477427482605, -0.0, 0.0, 0.3099488914012909, -0.5628671646118164, 0.3702220320701599, -1.4784084558486938, -0.09746700525283813, 1.5501258373260498, -0.00015487478231079876, 0.00015487478231079876], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7856488823890686, -0.4388876259326935, 0.20809490978717804, 1.6863126754760742, 0.22449836134910583, -1.7793927192687988, -0.0, 0.0, 0.3854810297489166, -0.6265735626220703, 0.50030517578125, -1.440260887145996, 0.10090028494596481, 1.5501258373260498, -0.00015487478231079876, 0.00015487478231079876], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7829785346984863, -0.4182879328727722, 0.20771344006061554, 1.6866941452026367, 0.1993209719657898, -1.7618448734283447, -0.0, 0.0, 0.4488059878349304, -0.734912633895874, 0.6338216066360474, -1.3937208652496338, 0.2821011543273926, 1.5501258373260498, -0.00015487478231079876, 0.00015487478231079876], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7810711860656738, -0.4083695709705353, 0.20771344006061554, 1.6866941452026367, 0.17719538509845734, -1.7538337707519531, -0.0, 0.0, 0.49191272258758545, -0.8676661252975464, 0.7505531311035156, -1.338025450706482, 0.440032035112381, 1.5501258373260498, -0.00015487478231079876, 0.00015487478231079876], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7803082466125488, -0.4030289053916931, 0.20733195543289185, 1.6866941452026367, 0.15888457000255585, -1.7500190734863281, -0.0, 0.0, 0.5201418995857239, -1.0065232515335083, 0.8512626886367798, -1.284618854522705, 0.5544747114181519, 1.559281349182129, -0.00015487478231079876, 0.00015487478231079876], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7803082466125488, -0.4015030264854431, 0.20695048570632935, 1.6866941452026367, 0.14744029939174652, -1.7462043762207031, -0.0, 0.0, 0.5422675013542175, -1.122873306274414, 0.926413357257843, -1.259822964668274, 0.6307697892189026, 1.5989547967910767, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7803082466125488, -0.4026474356651306, 0.20656901597976685, 1.6866941452026367, 0.13981078565120697, -1.745059847831726, -0.0, 0.0, 0.571259617805481, -1.2205309867858887, 0.9893568158149719, -1.2953002452850342, 0.6967650651931763, 1.6672388315200806, -0.00015826411254238337, 0.00015826411254238337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4068436622619629, 0.20656901597976685, 1.6866941452026367, 0.1333257108926773, -1.742771029472351, -0.0, 0.0, 0.5994887948036194, -1.3067444562911987, 1.0515373945236206, -1.3319218158721924, 0.7585641145706177, 1.728274941444397, -0.001883870572783053, 0.001883870572783053], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.41256579756736755, 0.20656901597976685, 1.6866941452026367, 0.13027389347553253, -1.742771029472351, -0.0, 0.0, 0.615129292011261, -1.3731212615966797, 1.0957884788513184, -1.356717824935913, 0.8016708493232727, 1.7839703559875488, -0.006704479455947876, 0.006704479455947876], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4175249934196472, 0.20580606162548065, 1.6866941452026367, 0.12684062123298645, -1.742771029472351, -0.0, 0.0, 0.620851457118988, -1.415464997291565, 1.1190584897994995, -1.3746471405029297, 0.8268482685089111, 1.824025273323059, -0.009695491753518581, 0.009695491753518581], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4240100681781769, 0.20542457699775696, 1.6870756149291992, 0.12378881871700287, -1.742771029472351, -0.0, 0.0, 0.6261920928955078, -1.4478904008865356, 1.1346989870071411, -1.3780803680419922, 0.840962827205658, 1.8602654933929443, -0.010173818096518517, 0.010173818096518517], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.43163958191871643, 0.20542457699775696, 1.6870756149291992, 0.12340734153985977, -1.7423895597457886, -0.0, 0.0, 0.6292439103126526, -1.4799343347549438, 1.1533913612365723, -1.3849469423294067, 0.8619440197944641, 1.8820096254348755, -0.011469440534710884, 0.011469440534710884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4381246566772461, 0.20580606162548065, 1.6870756149291992, 0.12302586436271667, -1.7423895597457886, -0.0, 0.0, 0.6338216066360474, -1.508926510810852, 1.1739909648895264, -1.3895246982574463, 0.8794918656349182, 1.8965057134628296, -0.011877783574163914, 0.011877783574163914], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44193941354751587, 0.20542457699775696, 1.6870756149291992, 0.12226291000843048, -1.7423895597457886, -0.0, 0.0, 0.6399252414703369, -1.5287632942199707, 1.1892499923706055, -1.3883802890777588, 0.8859769701957703, 1.9037537574768066, -0.011877783574163914, 0.011877783574163914], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44346532225608826, 0.20504310727119446, 1.6870756149291992, 0.1203555315732956, -1.7423895597457886, -0.0, 0.0, 0.6429770588874817, -1.5421148538589478, 1.19764244556427, -1.3883802890777588, 0.8894102573394775, 1.9071869850158691, -0.011877783574163914, 0.011877783574163914], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44460976123809814, 0.20504310727119446, 1.6870756149291992, 0.1199740618467331, -1.7423895597457886, -0.0, 0.0, 0.6422140598297119, -1.5524147748947144, 1.2022202014923096, -1.3891432285308838, 0.8855955004692078, 1.9113832712173462, -0.011860659345984459, 0.011860659345984459], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44499123096466064, 0.20504310727119446, 1.6866941452026367, 0.11959258466959, -1.7423895597457886, -0.0, 0.0, 0.6433585286140442, -1.5611886978149414, 1.204890489578247, -1.3887617588043213, 0.8821622133255005, 1.9113832712173462, -0.011834990233182907, 0.011834990233182907], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44499123096466064, 0.20504310727119446, 1.6870756149291992, 0.11463340371847153, -1.7423895597457886, -0.0, 0.0, 0.6448844075202942, -1.5684367418289185, 1.205653429031372, -1.3887617588043213, 0.8813992738723755, 1.9113832712173462, -0.011758111417293549, 0.011758111417293549], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44499123096466064, 0.20466163754463196, 1.6870756149291992, 0.10776684433221817, -1.7423895597457886, -0.0, 0.0, 0.6445029377937317, -1.575303316116333, 1.206416368484497, -1.3887617588043213, 0.8783474564552307, 1.9113832712173462, -0.011191961355507374, 0.011191961355507374], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44499123096466064, 0.20466163754463196, 1.6870756149291992, 0.1028076633810997, -1.7423895597457886, -0.0, 0.0, 0.6441214680671692, -1.581406831741333, 1.206416368484497, -1.3887617588043213, 0.8783474564552307, 1.9113832712173462, -0.010101464577019215, 0.010101464577019215], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44499123096466064, 0.20466163754463196, 1.6870756149291992, 0.10013733059167862, -1.7423895597457886, -0.0, 0.0, 0.6460288166999817, -1.5875104665756226, 1.206416368484497, -1.3887617588043213, 0.8783474564552307, 1.9110018014907837, -0.009366369806230068, 0.009366369806230068], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44460976123809814, 0.20466163754463196, 1.6870756149291992, 0.09441519528627396, -1.7423895597457886, -0.0, 0.0, 0.6460288166999817, -1.592088222503662, 1.2071794271469116, -1.3887617588043213, 0.8783474564552307, 1.9106203317642212, -0.008326186798512936, 0.008326186798512936], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44499123096466064, 0.20466163754463196, 1.6870756149291992, 0.09288929402828217, -1.7423895597457886, -0.0, 0.0, 0.6460288166999817, -1.597428798675537, 1.2079423666000366, -1.3895246982574463, 0.8794918656349182, 1.9060425758361816, -0.00495340907946229, 0.00495340907946229], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44499123096466064, 0.20466163754463196, 1.6870756149291992, 0.0879301130771637, -1.7423895597457886, -0.0, 0.0, 0.6475547552108765, -1.6000992059707642, 1.2079423666000366, -1.3910505771636963, 0.881780743598938, 1.897650122642517, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44575417041778564, 0.20466163754463196, 1.6870756149291992, 0.08564125746488571, -1.7423895597457886, -0.0, 0.0, 0.6483176946640015, -1.6008621454238892, 1.2079423666000366, -1.3906691074371338, 0.8821622133255005, 1.891165018081665, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44575417041778564, 0.20466163754463196, 1.6866941452026367, 0.08144503086805344, -1.7423895597457886, -0.0, 0.0, 0.649462103843689, -1.5939955711364746, 1.2071794271469116, -1.3914320468902588, 0.8802548050880432, 1.8858243227005005, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44575417041778564, 0.20466163754463196, 1.6866941452026367, 0.08030059933662415, -1.7423895597457886, -0.0, 0.0, 0.650225043296814, -1.566147804260254, 1.205653429031372, -1.3891432285308838, 0.8787289261817932, 1.8842984437942505, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44537270069122314, 0.20466163754463196, 1.6870756149291992, 0.07953765243291855, -1.7423895597457886, -0.0, 0.0, 0.6509880423545837, -1.5157930850982666, 1.2060348987579346, -1.3956283330917358, 0.8554589152336121, 1.883154034614563, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44575417041778564, 0.20466163754463196, 1.6870756149291992, 0.07915617525577545, -1.7423895597457886, -0.0, 0.0, 0.647173285484314, -1.4559013843536377, 1.2067978382110596, -1.4288166761398315, 0.8291370868682861, 1.8804837465286255, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44575417041778564, 0.20466163754463196, 1.6870756149291992, 0.07915617525577545, -1.7423895597457886, -0.0, 0.0, 0.6464102864265442, -1.3879988193511963, 1.2014572620391846, -1.4726864099502563, 0.8184558153152466, 1.8804837465286255, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44575417041778564, 0.20466163754463196, 1.6870756149291992, 0.07877469807863235, -1.7423895597457886, -0.0, 0.0, 0.6399252414703369, -1.2941558361053467, 1.1640726327896118, -1.513122797012329, 0.770008385181427, 1.8804837465286255, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44537270069122314, 0.20466163754463196, 1.6870756149291992, 0.07877469807863235, -1.7423895597457886, -0.0, 0.0, 0.6166552305221558, -1.1835278272628784, 1.0877774953842163, -1.5543221235275269, 0.6738765835762024, 1.880865216255188, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44460976123809814, 0.20466163754463196, 1.6870756149291992, 0.07877469807863235, -1.7423895597457886, -0.0, 0.0, 0.5853742361068726, -1.0660333633422852, 0.9878309369087219, -1.5924696922302246, 0.5750743746757507, 1.880865216255188, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44460976123809814, 0.20428015291690826, 1.6870756149291992, 0.07877469807863235, -1.7423895597457886, -0.0, 0.0, 0.541886031627655, -0.9447242021560669, 0.8749141693115234, -1.636720895767212, 0.464446485042572, 1.880865216255188, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44460976123809814, 0.20313572883605957, 1.6870756149291992, 0.07877469807863235, -1.7423895597457886, -0.0, 0.0, 0.47665369510650635, -0.8260852694511414, 0.7536049485206604, -1.6706721782684326, 0.35038527846336365, 1.880865216255188, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44460976123809814, 0.20122835040092468, 1.6870756149291992, 0.07839322835206985, -1.7423895597457886, -0.0, 0.0, 0.4015030264854431, -0.7177462577819824, 0.6364919543266296, -1.6882200241088867, 0.23708705604076385, 1.8812466859817505, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44384679198265076, 0.200083926320076, 1.6870756149291992, 0.07877469807863235, -1.7423895597457886, -0.0, 0.0, 0.3274967670440674, -0.6315327882766724, 0.5399786233901978, -1.6992828845977783, 0.14286258816719055, 1.8812466859817505, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44308385252952576, 0.1993209719657898, 1.6870756149291992, 0.07839322835206985, -1.7423895597457886, -0.0, 0.0, 0.264934778213501, -0.5746929049491882, 0.4674982726573944, -1.7141603231430054, 0.08869306743144989, 1.881628155708313, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44270238280296326, 0.1985580176115036, 1.6870756149291992, 0.07877469807863235, -1.7423895597457886, -0.0, 0.0, 0.23517967760562897, -0.5457007884979248, 0.41676202416419983, -1.7504005432128906, 0.05245288833975792, 1.8835355043411255, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44270238280296326, 0.1985580176115036, 1.6870756149291992, 0.07839322835206985, -1.7423895597457886, -0.0, 0.0, 0.2161058932542801, -0.5407415628433228, 0.38128480315208435, -1.7748149633407593, 0.02079041674733162, 1.883154034614563, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44232088327407837, 0.1985580176115036, 1.6870756149291992, 0.07839322835206985, -1.7423895597457886, -0.0, 0.0, 0.20656901597976685, -0.5556191205978394, 0.34695202112197876, -1.7893110513687134, -0.027656977996230125, 1.883154034614563, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44155794382095337, 0.1985580176115036, 1.6870756149291992, 0.07839322835206985, -1.7423895597457886, -0.0, 0.0, 0.20160982012748718, -0.5827038884162903, 0.3233005404472351, -1.797703504562378, -0.07457847148180008, 1.880865216255188, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.44079500436782837, 0.1985580176115036, 1.6870756149291992, 0.07839322835206985, -1.7423895597457886, -0.0, 0.0, 0.1958876997232437, -0.612077534198761, 0.30308231711387634, -1.8030441999435425, -0.10509651154279709, 1.880865216255188, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4404135048389435, 0.1985580176115036, 1.6866941452026367, 0.07724879682064056, -1.7423895597457886, -0.0, 0.0, 0.1958876997232437, -0.6357290148735046, 0.28553444147109985, -1.80724036693573, -0.14019227027893066, 1.880865216255188, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1985580176115036, 1.6870756149291992, 0.07534141838550568, -1.7423895597457886, -0.0, 0.0, 0.19169145822525024, -0.6540398001670837, 0.273708701133728, -1.80724036693573, -0.16308079659938812, 1.8812466859817505, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1985580176115036, 1.6870756149291992, 0.07534141838550568, -1.7423895597457886, -0.0, 0.0, 0.18940261006355286, -0.6719691753387451, 0.2645532786846161, -1.8102922439575195, -0.17757686972618103, 1.880865216255188, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1985580176115036, 1.6870756149291992, 0.07495994865894318, -1.7423895597457886, -0.0, 0.0, 0.1806286722421646, -0.6868467330932617, 0.2569237947463989, -1.8102922439575195, -0.182917520403862, 1.880865216255188, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.07457847148180008, -1.7423895597457886, -0.0, 0.0, 0.17681391537189484, -0.698291003704071, 0.24967575073242188, -1.8102922439575195, -0.18749523162841797, 1.880865216255188, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.07419699430465698, -1.7423895597457886, -0.0, 0.0, 0.17299915850162506, -0.7066834568977356, 0.2439536154270172, -1.8102922439575195, -0.19245441257953644, 1.880865216255188, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.07381551712751389, -1.7423895597457886, -0.0, 0.0, 0.16956588625907898, -0.7127870321273804, 0.23823148012161255, -1.8102922439575195, -0.19245441257953644, 1.8778133392333984, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.07343403995037079, -1.7423895597457886, -0.0, 0.0, 0.16918440163135529, -0.7185091972351074, 0.23289081454277039, -1.8102922439575195, -0.19283588230609894, 1.8671320676803589, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.0722896158695221, -1.7423895597457886, -0.0, 0.0, 0.1676585078239441, -0.7223239541053772, 0.2283131182193756, -1.8102922439575195, -0.19283588230609894, 1.8610284328460693, -0.0025016108993440866, 0.0025016108993440866], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.0722896158695221, -1.7423895597457886, -0.0, 0.0, 0.1676585078239441, -0.7265201807022095, 0.22526131570339203, -1.8102922439575195, -0.19207294285297394, 1.8572137355804443, -0.003403198905289173, 0.003403198905289173], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.0722896158695221, -1.7423895597457886, -0.0, 0.0, 0.1676585078239441, -0.7288090586662292, 0.22411687672138214, -1.8102922439575195, -0.17910276353359222, 1.8537803888320923, -0.00606235908344388, 0.00606235908344388], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.0722896158695221, -1.7423895597457886, -0.0, 0.0, 0.1676585078239441, -0.728427529335022, 0.22335393726825714, -1.8102922439575195, -0.16308079659938812, 1.8537803888320923, -0.009727083146572113, 0.009727083146572113], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.0722896158695221, -1.7423895597457886, -0.0, 0.0, 0.1676585078239441, -0.7204165458679199, 0.22297245264053345, -1.8102922439575195, -0.1493476778268814, 1.8533989191055298, -0.013699503615498543, 0.013699503615498543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.0722896158695221, -1.7423895597457886, -0.0, 0.0, 0.1676585078239441, -0.6898985505104065, 0.22678720951080322, -1.8102922439575195, -0.13904783129692078, 1.8530174493789673, -0.01375368982553482, 0.01375368982553482], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.0722896158695221, -1.7423895597457886, -0.0, 0.0, 0.17071031033992767, -0.6353475451469421, 0.247768372297287, -1.8102922439575195, -0.13904783129692078, 1.8511101007461548, -0.004352338146418333, 0.004352338146418333], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.440032035112381, 0.1981765478849411, 1.6870756149291992, 0.0722896158695221, -1.7423895597457886, -0.0, 0.0, 0.20542457699775696, -0.5865186452865601, 0.2965972423553467, -1.8102922439575195, -0.12798504531383514, 1.8686579465866089, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4396505653858185, 0.1981765478849411, 1.6870756149291992, 0.0722896158695221, -1.7423895597457886, -0.0, 0.0, 0.28439003229141235, -0.577744722366333, 0.3721294105052948, -1.8102922439575195, -0.06961929053068161, 1.8858243227005005, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.439269095659256, 0.1981765478849411, 1.6870756149291992, 0.07267109304666519, -1.7423895597457886, -0.0, 0.0, 0.3908216953277588, -0.6246662139892578, 0.46101319789886475, -1.8102922439575195, 0.02193484455347061, 1.8965057134628296, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.438506156206131, 0.1985580176115036, 1.6870756149291992, 0.07305257022380829, -1.7423895597457886, -0.0, 0.0, 0.49267566204071045, -0.7200350761413574, 0.5521858334541321, -1.8068588972091675, 0.1367589831352234, 1.900701880455017, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4377431869506836, 0.1985580176115036, 1.6870756149291992, 0.07267109304666519, -1.7423895597457886, -0.0, 0.0, 0.5567635893821716, -0.8363851308822632, 0.6322957277297974, -1.7763408422470093, 0.2473868876695633, 1.9045166969299316, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4369802474975586, 0.1985580176115036, 1.6870756149291992, 0.07267109304666519, -1.7423895597457886, -0.0, 0.0, 0.5918593406677246, -0.9462500810623169, 0.6940947771072388, -1.7423895597457886, 0.3271152675151825, 1.9071869850158691, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4354543387889862, 0.1985580176115036, 1.6870756149291992, 0.07267109304666519, -1.7423895597457886, -0.0, 0.0, 0.6109330654144287, -1.039711594581604, 0.7436865568161011, -1.7221713066101074, 0.3927290737628937, 1.9075684547424316, -0.00024368900631088763, 0.00024368900631088763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4343098998069763, 0.1985580176115036, 1.6870756149291992, 0.0715266615152359, -1.7423895597457886, -0.0, 0.0, 0.6197070479393005, -1.1125733852386475, 0.7806897163391113, -1.7084382772445679, 0.44460976123809814, 1.9106203317642212, -0.005019350443035364, 0.005019350443035364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4331654906272888, 0.1985580176115036, 1.6870756149291992, 0.0707637146115303, -1.7423895597457886, -0.0, 0.0, 0.6242847442626953, -1.1652170419692993, 0.805867075920105, -1.7042419910430908, 0.4728389382362366, 1.9110018014907837, -0.006403262261301279, 0.006403262261301279], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4331654906272888, 0.1985580176115036, 1.6870756149291992, 0.06771191209554672, -1.7423895597457886, -0.0, 0.0, 0.6269550919532776, -1.2045090198516846, 0.8211261034011841, -1.6973754167556763, 0.4892423748970032, 1.9110018014907837, -0.00707353325560689, 0.00707353325560689], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06733043491840363, -1.7423895597457886, -0.0, 0.0, 0.6219958662986755, -1.2331197261810303, 0.8279926776885986, -1.6969939470291138, 0.4980163276195526, 1.9106203317642212, -0.007908721454441547, 0.007908721454441547], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06733043491840363, -1.7423895597457886, -0.0, 0.0, 0.6116960644721985, -1.2541009187698364, 0.8318074345588684, -1.6962310075759888, 0.5037384629249573, 1.9110018014907837, -0.008407793939113617, 0.008407793939113617], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06733043491840363, -1.7423895597457886, -0.0, 0.0, 0.5994887948036194, -1.269741415977478, 0.8333333134651184, -1.6935607194900513, 0.5106050372123718, 1.9110018014907837, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.5914778113365173, -1.27927827835083, 0.8333333134651184, -1.6931792497634888, 0.5144197940826416, 1.9110018014907837, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.5872815847396851, -1.2880522012710571, 0.8337147831916809, -1.6931792497634888, 0.5167086124420166, 1.9110018014907837, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4331654906272888, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.5853742361068726, -1.2987334728240967, 0.8333333134651184, -1.6931792497634888, 0.5193789601325989, 1.9110018014907837, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.5846112966537476, -1.3097963333129883, 0.8321889042854309, -1.6931792497634888, 0.5197604298591614, 1.9110018014907837, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.5842298269271851, -1.3189517259597778, 0.8310444951057434, -1.6931792497634888, 0.5205233693122864, 1.9110018014907837, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.5846112966537476, -1.3250553607940674, 0.8291370868682861, -1.6931792497634888, 0.5231937170028687, 1.9110018014907837, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.5846112966537476, -1.3265812397003174, 0.8291370868682861, -1.6931792497634888, 0.5231937170028687, 1.9106203317642212, -0.008707377128303051, 0.008707377128303051], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.5853742361068726, -1.3254368305206299, 0.8291370868682861, -1.6927977800369263, 0.5228122472763062, 1.9106203317642212, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.5903334021568298, -1.3239108324050903, 0.8291370868682861, -1.6897459030151367, 0.5228122472763062, 1.9106203317642212, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.5987258553504944, -1.3239108324050903, 0.8291370868682861, -1.6897459030151367, 0.5224307775497437, 1.9106203317642212, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.6040665507316589, -1.3261997699737549, 0.8291370868682861, -1.6893644332885742, 0.5220493078231812, 1.9106203317642212, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.6067368388175964, -1.3292515277862549, 0.8291370868682861, -1.6897459030151367, 0.5216678380966187, 1.9106203317642212, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.6094071865081787, -1.333447813987732, 0.8291370868682861, -1.6897459030151367, 0.5216678380966187, 1.9106203317642212, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4331654906272888, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.6101701259613037, -1.340695858001709, 0.8291370868682861, -1.6897459030151367, 0.5216678380966187, 1.9106203317642212, -0.008707377128303051, 0.008707377128303051], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.6101701259613037, -1.351758599281311, 0.8291370868682861, -1.6897459030151367, 0.5220493078231812, 1.9106203317642212, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.6105515956878662, -1.362058401107788, 0.8291370868682861, -1.6908903121948242, 0.5212863087654114, 1.9098572731018066, -0.006922178436070681, 0.006922178436070681], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.6101701259613037, -1.3670176267623901, 0.8295185565948486, -1.6931792497634888, 0.5197604298591614, 1.9106203317642212, -0.001994832418859005, 0.001994832418859005], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4327840209007263, 0.1985580176115036, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.6101701259613037, -1.3643473386764526, 0.8291370868682861, -1.6931792497634888, 0.5197604298591614, 1.9102388620376587, -0.0020127296447753906, 0.0020127296447753906], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.4331654906272888, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.6105515956878662, -1.334973692893982, 0.8279926776885986, -1.6863126754760742, 0.5315861701965332, 1.9102388620376587, -0.0020127296447753906, 0.0020127296447753906], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4343098998069763, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.6113145351409912, -1.27775239944458, 0.8291370868682861, -1.6996643543243408, 0.5239566564559937, 1.9102388620376587, -0.0020127296447753906, 0.0020127296447753906], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4350728690624237, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.6101701259613037, -1.201838731765747, 0.8295185565948486, -1.726749062538147, 0.5197604298591614, 1.9102388620376587, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4354543387889862, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.6105515956878662, -1.120965838432312, 0.8291370868682861, -1.7641336917877197, 0.5189974904060364, 1.9102388620376587, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4354543387889862, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.6101701259613037, -1.0423818826675415, 0.8283741474151611, -1.806477427482605, 0.5144197940826416, 1.9102388620376587, -0.0020127296447753906, 0.0020127296447753906], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.4354543387889862, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.6002517938613892, -0.9611276388168335, 0.8134965896606445, -1.8492027521133423, 0.49038681387901306, 1.9102388620376587, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4350728690624237, 0.1985580176115036, 1.6870756149291992, 0.06694895774126053, -1.7423895597457886, -0.0, 0.0, 0.5746929049491882, -0.8859769701957703, 0.7825970649719238, -1.8755245208740234, 0.44155794382095337, 1.9102388620376587, -0.0020127296447753906, 0.0020127296447753906], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4343098998069763, 0.1985580176115036, 1.6870756149291992, 0.06733043491840363, -1.7423895597457886, -0.0, 0.0, 0.5247195959091187, -0.80510413646698, 0.7257572412490845, -1.894216775894165, 0.36526283621788025, 1.9106203317642212, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4331654906272888, 0.1981765478849411, 1.6870756149291992, 0.06733043491840363, -1.7423895597457886, -0.0, 0.0, 0.45986875891685486, -0.7291905283927917, 0.6513695120811462, -1.9056611061096191, 0.26684215664863586, 1.9102388620376587, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.4331654906272888, 0.1981765478849411, 1.6870756149291992, 0.06771191209554672, -1.7423895597457886, -0.0, 0.0, 0.3854810297489166, -0.6620507836341858, 0.5647745728492737, -1.9125276803970337, 0.16079194843769073, 1.9106203317642212, -0.0020127296447753906, 0.0020127296447753906], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.43240252137184143, 0.1981765478849411, 1.6870756149291992, 0.06771191209554672, -1.7423895597457886, -0.0, 0.0, 0.31490805745124817, -0.6139848828315735, 0.47817960381507874, -1.9159609079360962, 0.05893797054886818, 1.9102388620376587, -0.0020127296447753906, 0.0020127296447753906], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.43240252137184143, 0.1981765478849411, 1.6870756149291992, 0.06809338182210922, -1.7423895597457886, -0.0, 0.0, 0.2500572204589844, -0.5903334021568298, 0.3927290737628937, -1.9197757244110107, -0.05893797054886818, 1.9106203317642212, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.43240252137184143, 0.1977950781583786, 1.6870756149291992, 0.06809338182210922, -1.7423895597457886, -0.0, 0.0, 0.19130998849868774, -0.5926222801208496, 0.3217746317386627, -1.9205386638641357, -0.18596932291984558, 1.9102388620376587, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.43202105164527893, 0.1977950781583786, 1.6870756149291992, 0.06809338182210922, -1.7423895597457886, -0.0, 0.0, 0.14095520973205566, -0.613603413105011, 0.27141985297203064, -1.9224460124969482, -0.2943083941936493, 1.9106203317642212, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.43163958191871643, 0.1977950781583786, 1.6870756149291992, 0.06809338182210922, -1.7423895597457886, -0.0, 0.0, 0.09327077120542526, -0.6441214680671692, 0.23403525352478027, -1.9224460124969482, -0.3843366205692291, 1.9106203317642212, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.43163958191871643, 0.1977950781583786, 1.6870756149291992, 0.06809338182210922, -1.7423895597457886, -0.0, 0.0, 0.0551232174038887, -0.6757839322090149, 0.20618753135204315, -1.9224460124969482, -0.47550925612449646, 1.9106203317642212, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.4327840209007263, 0.1977950781583786, 1.6870756149291992, 0.06809338182210922, -1.7423895597457886, -0.0, 0.0, 0.03490501269698143, -0.7040131092071533, 0.19054703414440155, -1.9205386638641357, -0.5514228940010071, 1.9106203317642212, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7791637778282166, -0.4346913993358612, 0.1974135935306549, 1.6870756149291992, 0.06809338182210922, -1.7423895597457886, -0.0, 0.0, 0.02384222112596035, -0.728427529335022, 0.1825360506772995, -1.9186313152313232, -0.6219958662986755, 1.9106203317642212, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.778782308101654, -0.4373617172241211, 0.1970321238040924, 1.6870756149291992, 0.06809338182210922, -1.7423895597457886, -0.0, 0.0, 0.018120087683200836, -0.7516975402832031, 0.17833982408046722, -1.9155794382095337, -0.6811245679855347, 1.9106203317642212, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.776493489742279, -0.440032035112381, 0.1962691694498062, 1.6870756149291992, 0.06771191209554672, -1.7423895597457886, -0.0, 0.0, 0.01506828423589468, -0.7768749594688416, 0.17605096101760864, -1.9151979684829712, -0.7181277275085449, 1.9106203317642212, -0.0020127296447753906, 0.0020127296447753906], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.775730550289154, -0.44270238280296326, 0.19550621509552002, 1.6870756149291992, 0.06771191209554672, -1.7423895597457886, -0.0, 0.0, 0.013160906732082367, -0.8100633025169373, 0.17490653693675995, -1.9148164987564087, -0.7478827834129333, 1.9106203317642212, -0.0020127296447753906, 0.0020127296447753906], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7749675512313843, -0.44460976123809814, 0.19474326074123383, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.012779430486261845, -0.8524070978164673, 0.17872129380702972, -1.9148164987564087, -0.7864118218421936, 1.9106203317642212, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7742046117782593, -0.44575417041778564, 0.19474326074123383, 1.6870756149291992, 0.06580453366041183, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.8981841802597046, 0.18711376190185547, -1.9140535593032837, -0.8173113465309143, 1.9106203317642212, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7742046117782593, -0.44613564014434814, 0.19474326074123383, 1.6870756149291992, 0.06542305648326874, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.9390020370483398, 0.19245441257953644, -1.9125276803970337, -0.8520256280899048, 1.9106203317642212, -0.0020082516130059958, 0.0020082516130059958], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7742046117782593, -0.44613564014434814, 0.19474326074123383, 1.6870756149291992, 0.06504157930612564, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.9660868048667908, 0.19359883666038513, -1.9129091501235962, -0.8749141693115234, 1.9106203317642212, -0.0020127296447753906, 0.0020127296447753906], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7742046117782593, -0.44613564014434814, 0.19474326074123383, 1.6870756149291992, 0.06466010212898254, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.9817273020744324, 0.18711376190185547, -1.9132906198501587, -0.8875028491020203, 1.9106203317642212, -0.0021300313528627157, 0.0021300313528627157], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7742046117782593, -0.44689860939979553, 0.19474326074123383, 1.6870756149291992, 0.06389715522527695, -1.742008090019226, -0.0, 0.0, 0.01201647985726595, -0.9905012845993042, 0.17833982408046722, -1.9132906198501587, -0.8867399096488953, 1.9106203317642212, -0.002430704655125737, 0.002430704655125737], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7734416723251343, -0.44766154885292053, 0.19474326074123383, 1.6870756149291992, 0.06313420087099075, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.9962233901023865, 0.17109178006649017, -1.9132906198501587, -0.8794918656349182, 1.9106203317642212, -0.003004151163622737, 0.003004151163622737], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7726787328720093, -0.4488059878349304, 0.19474326074123383, 1.6870756149291992, 0.06046387553215027, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.9992752075195312, 0.1665140837430954, -1.9144350290298462, -0.8783474564552307, 1.9106203317642212, -0.005146182142198086, 0.005146182142198086], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7711527943611145, -0.4495689272880554, 0.19474326074123383, 1.6870756149291992, 0.06008239835500717, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.9988937377929688, 0.16193637251853943, -1.9148164987564087, -0.8749141693115234, 1.9106203317642212, -0.00616643438115716, 0.00616643438115716], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.770771324634552, -0.4499503970146179, 0.19474326074123383, 1.6870756149291992, 0.05970092490315437, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.9893568158149719, 0.1527809500694275, -1.9151979684829712, -0.8726252913475037, 1.9106203317642212, -0.009711282327771187, 0.009711282327771187], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.4503318965435028, 0.19474326074123383, 1.6870756149291992, 0.05893797054886818, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.9603646993637085, 0.14095520973205566, -1.9155794382095337, -0.8722438216209412, 1.9106203317642212, -0.013081755489110947, 0.013081755489110947], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.4503318965435028, 0.19474326074123383, 1.6870756149291992, 0.058175019919872284, -1.7423895597457886, -0.0, 0.0, 0.011635004542768002, -0.8958953022956848, 0.1329442262649536, -1.961356520652771, -0.8710994124412537, 1.9228274822235107, -0.005856389179825783, 0.005856389179825783], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.4488059878349304, 0.19474326074123383, 1.6870756149291992, 0.059319447726011276, -1.7423895597457886, -0.0, 0.0, 0.011635004542768002, -0.8134965896606445, 0.13942931592464447, -2.0727474689483643, -0.8531700372695923, 2.018577814102173, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.44117647409439087, 0.19474326074123383, 1.6870756149291992, 0.06427863240242004, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.7200350761413574, 0.15697719156742096, -2.2352559566497803, -0.8165484070777893, 2.2058823108673096, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.42553597688674927, 0.19474326074123383, 1.6870756149291992, 0.06580453366041183, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.6342030763626099, 0.17032882571220398, -2.401960849761963, -0.7928969264030457, 2.3939497470855713, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.4076066315174103, 0.19474326074123383, 1.6870756149291992, 0.06847485899925232, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.5624856948852539, 0.19092851877212524, -2.595750331878662, -0.7871748208999634, 2.604905843734741, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.39501792192459106, 0.19474326074123383, 1.6870756149291992, 0.06847485899925232, -1.7423895597457886, -0.0, 0.0, 0.01201647985726595, -0.5148012638092041, 0.20618753135204315, -2.7487220764160156, -0.8112077713012695, 2.7677958011627197, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.3885328471660614, 0.19512474536895752, 1.6870756149291992, 0.06809338182210922, -1.7423895597457886, -0.0, 0.0, 0.012779430486261845, -0.49000534415245056, 0.2141985148191452, -2.8437094688415527, -0.8588922023773193, 2.8685054779052734, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.3866254687309265, 0.19550621509552002, 1.6870756149291992, 0.06771191209554672, -1.7423895597457886, -0.0, 0.0, 0.013160906732082367, -0.47779813408851624, 0.21839475631713867, -2.9013123512268066, -0.8958953022956848, 2.9272525310516357, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.3847180902957916, 0.19550621509552002, 1.6870756149291992, 0.06656748056411743, -1.7423895597457886, -0.0, 0.0, 0.013923857361078262, -0.4713130295276642, 0.22068360447883606, -2.930304527282715, -0.8772030472755432, 2.9596779346466064, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.3774700462818146, 0.19550621509552002, 1.6870756149291992, 0.06313420087099075, -1.742008090019226, -0.0, 0.0, 0.013542382046580315, -0.4671168029308319, 0.22526131570339203, -2.94022274017334, -0.8207446336746216, 2.9779889583587646, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.3530556261539459, 0.19550621509552002, 1.6870756149291992, 0.05359731614589691, -1.7278934717178345, -0.0, 0.0, 0.013542382046580315, -0.4655908942222595, 0.2317463904619217, -2.944037437438965, -0.770008385181427, 2.9879071712493896, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.30308231711387634, 0.19550621509552002, 1.6870756149291992, 0.028038453310728073, -1.7103456258773804, -0.0, 0.0, 0.013542382046580315, -0.46368351578712463, 0.23556114733219147, -2.945563554763794, -0.7410162687301636, 2.9951553344726562, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.2298390120267868, 0.19130998849868774, 1.6870756149291992, -0.035667963325977325, -1.6954680681228638, -0.0, 0.0, 0.013542382046580315, -0.46330204606056213, 0.23785001039505005, -2.9482338428497314, -0.728427529335022, 2.9966812133789062, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.15468832850456238, 0.1684214472770691, 1.6870756149291992, -0.08335240930318832, -1.6905088424682617, -0.0, 0.0, 0.013542382046580315, -0.46292057633399963, 0.23861294984817505, -2.9512856006622314, -0.7211795449256897, 2.9989700317382812, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.09479667246341705, 0.12951095402240753, 1.6866941452026367, -0.09021896868944168, -1.71797513961792, -0.0, 0.0, 0.013923857361078262, -0.46292057633399963, 0.23899443447589874, -2.951667070388794, -0.7169833183288574, 2.9993515014648438, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7734416723251343, -0.06466010212898254, 0.08297093212604523, 1.6866941452026367, -0.04100862145423889, -1.7492561340332031, -0.0, 0.0, 0.013542382046580315, -0.46330204606056213, 0.23899443447589874, -2.951667070388794, -0.7146944403648376, 2.9997329711914062, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7856488823890686, -0.056267641484737396, 0.05359731614589691, 1.6866941452026367, 0.016594186425209045, -1.7664225101470947, -0.0, 0.0, 0.013923857361078262, -0.46368351578712463, 0.23937590420246124, -2.9520485401153564, -0.7143129706382751, 2.9997329711914062, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7917525172233582, -0.04711223021149635, 0.039101243019104004, 1.6866941452026367, 0.04558632895350456, -1.7740520238876343, -0.0, 0.0, 0.013542382046580315, -0.465209424495697, 0.23937590420246124, -2.952430009841919, -0.7139315009117126, 3.0001144409179688, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7963302135467529, -0.03643091395497322, 0.029564354568719864, 1.6870756149291992, 0.046730753034353256, -1.7778668403625488, -0.0, 0.0, 0.013542382046580315, -0.465209424495697, 0.23937590420246124, -2.953955888748169, -0.7116426229476929, 3.0001144409179688, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.03604944050312042, 0.008201723918318748, 1.6866941452026367, 0.05397878959774971, -1.7813000679016113, -0.0, 0.0, 0.013923857361078262, -0.465209424495697, 0.23937590420246124, -2.9543373584747314, -0.7116426229476929, 3.0001144409179688, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8096818327903748, -0.04177157208323479, -0.005912871100008488, 1.6866941452026367, 0.07763027399778366, -1.7813000679016113, -0.0, 0.0, 0.013542382046580315, -0.465209424495697, 0.23937590420246124, -2.954718828201294, -0.7120240926742554, 3.0001144409179688, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8127336502075195, -0.04711223021149635, -0.012397955171763897, 1.6866941452026367, 0.08449683338403702, -1.7809185981750488, -0.0, 0.0, 0.013542382046580315, -0.465209424495697, 0.23937590420246124, -2.9551002979278564, -0.7154573798179626, 3.0001144409179688, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.813878059387207, -0.04787518084049225, -0.016212711110711098, 1.6866941452026367, 0.09174486994743347, -1.7771037817001343, -0.0, 0.0, 0.013542382046580315, -0.465209424495697, 0.23937590420246124, -2.9558632373809814, -0.7200350761413574, 3.0001144409179688, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.04711223021149635, -0.01926451548933983, 1.6866941452026367, 0.09517814964056015, -1.7771037817001343, -0.0, 0.0, 0.013923857361078262, -0.465209424495697, 0.23937590420246124, -2.959296464920044, -0.7223239541053772, 3.0001144409179688, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.049782559275627136, -0.02040894143283367, 1.6866941452026367, 0.09861142933368683, -1.7790112495422363, -0.0, 0.0, 0.013542382046580315, -0.465209424495697, 0.23937590420246124, -2.9619669914245605, -0.7230868935585022, 3.0001144409179688, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.054741740226745605, -0.019645990803837776, 1.6866941452026367, 0.10128175467252731, -1.7851147651672363, -0.0, 0.0, 0.013923857361078262, -0.4659723937511444, 0.23937590420246124, -2.963111400604248, -0.7257572412490845, 3.0001144409179688, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.05664911866188049, -0.01926451548933983, 1.6866941452026367, 0.10204470902681351, -1.7885481119155884, -0.0, 0.0, 0.013542382046580315, -0.4690241813659668, 0.23937590420246124, -2.964637279510498, -0.725375771522522, 3.0001144409179688, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.05664911866188049, -0.01926451548933983, 1.6866941452026367, 0.1024261862039566, -1.7893110513687134, -0.0, 0.0, 0.013923857361078262, -0.47398337721824646, 0.23937590420246124, -2.9657816886901855, -0.7169833183288574, 3.0004959106445312, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.058175019919872284, -0.01888304017484188, 1.6866941452026367, 0.1024261862039566, -1.7919813394546509, -0.0, 0.0, 0.013923857361078262, -0.482375830411911, 0.23937590420246124, -2.959296464920044, -0.7070649266242981, 3.0004959106445312, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06046387553215027, -0.01773861236870289, 1.6866941452026367, 0.1028076633810997, -1.7923628091812134, -0.0, 0.0, 0.013923857361078262, -0.50030517578125, 0.23975738883018494, -2.9406042098999023, -0.697528064250946, 3.0004959106445312, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06160829961299896, -0.01773861236870289, 1.6866941452026367, 0.1028076633810997, -1.7923628091812134, -0.0, 0.0, 0.013923857361078262, -0.5254825949668884, 0.23975738883018494, -2.9268710613250732, -0.6784542798995972, 3.0004959106445312, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06160829961299896, -0.01735713705420494, 1.6866941452026367, 0.1028076633810997, -1.7927442789077759, -0.0, 0.0, 0.013542382046580315, -0.5430304408073425, 0.23937590420246124, -2.913900852203369, -0.6704432964324951, 3.0008773803710938, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06160829961299896, -0.01773861236870289, 1.6866941452026367, 0.1028076633810997, -1.7927442789077759, -0.0, 0.0, 0.013542382046580315, -0.5521858334541321, 0.23937590420246124, -2.885671854019165, -0.6700618267059326, 3.0008773803710938, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06160829961299896, -0.01773861236870289, 1.6866941452026367, 0.1028076633810997, -1.793125867843628, -0.0, 0.0, 0.013923857361078262, -0.5556191205978394, 0.24090181291103363, -2.855916738510132, -0.6700618267059326, 3.0008773803710938, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06198977679014206, -0.01773861236870289, 1.6866941452026367, 0.1028076633810997, -1.793125867843628, -0.0, 0.0, 0.013542382046580315, -0.5560005903244019, 0.24204623699188232, -2.830357789993286, -0.6692988276481628, 2.9978256225585938, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06198977679014206, -0.01773861236870289, 1.6866941452026367, 0.1028076633810997, -1.793125867843628, -0.0, 0.0, 0.013923857361078262, -0.5567635893821716, 0.23861294984817505, -2.7643625736236572, -0.6654840707778931, 2.9219119548797607, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06198977679014206, -0.01735713705420494, 1.6866941452026367, 0.1028076633810997, -1.793125867843628, -0.0, 0.0, 0.03185320645570755, -0.5586709380149841, 0.2317463904619217, -2.622072219848633, -0.6563286781311035, 2.7540626525878906, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06237125024199486, -0.01735713705420494, 1.6866941452026367, 0.1028076633810997, -1.793125867843628, -0.0, 0.0, 0.06542305648326874, -0.5628671646118164, 0.22755016386508942, -2.4519340991973877, -0.6403067111968994, 2.5442512035369873, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06313420087099075, -0.01735713705420494, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.11463340371847153, -0.5663004517555237, 0.22640573978424072, -2.2306783199310303, -0.5994887948036194, 2.32604718208313, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06351567804813385, -0.01735713705420494, 1.6866941452026367, 0.1028076633810997, -1.7935073375701904, -0.0, 0.0, 0.18940261006355286, -0.5663004517555237, 0.23327229917049408, -1.9911116361618042, -0.5178530812263489, 2.0723659992218018, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06389715522527695, -0.016975661739706993, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.26951247453689575, -0.5601968169212341, 0.25120165944099426, -1.80571448802948, -0.3889143168926239, 1.8686579465866089, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06466010212898254, -0.016594186425209045, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.3572518527507782, -0.533875048160553, 0.2645532786846161, -1.7042419910430908, -0.2584496736526489, 1.7496376037597656, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06466010212898254, -0.016594186425209045, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.45681697130203247, -0.4892423748970032, 0.26798656582832336, -1.6496909856796265, -0.13752193748950958, 1.6794461011886597, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06427863240242004, -0.016594186425209045, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.5514228940010071, -0.4331654906272888, 0.25654229521751404, -1.6199358701705933, -0.05664911866188049, 1.642824411392212, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06427863240242004, -0.016594186425209045, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.6311513185501099, -0.36640727519989014, 0.23327229917049408, -1.6042953729629517, -0.013160906732082367, 1.6206988096237183, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06427863240242004, -0.016594186425209045, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.692568838596344, -0.2912565767765045, 0.20389868319034576, -1.592088222503662, 0.013542382046580315, 1.6084916591644287, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06427863240242004, -0.016594186425209045, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.7509346008300781, -0.20580606162548065, 0.1661325991153717, -1.5867475271224976, 0.022697795182466507, 1.6016250848770142, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06427863240242004, -0.016594186425209045, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.7806897163391113, -0.13179980218410492, 0.12188144028186798, -1.580643892288208, 0.013923857361078262, 1.5985733270645142, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06427863240242004, -0.016594186425209045, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.7993820309638977, -0.071908138692379, 0.07801175117492676, -1.580643892288208, -0.013923857361078262, 1.595139980316162, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06427863240242004, -0.016594186425209045, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8073930144309998, -0.040627144277095795, 0.043678950518369675, -1.5802624225616455, -0.04177157208323479, 1.5947585105895996, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06427863240242004, -0.016594186425209045, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.813115119934082, -0.023079270496964455, 0.024605173617601395, -1.5802624225616455, -0.06160829961299896, 1.591325283050537, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06466010212898254, -0.016594186425209045, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8150225281715393, -0.01506828423589468, 0.01430533267557621, -1.5802624225616455, -0.0707637146115303, 1.5917067527770996, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06504157930612564, -0.016594186425209045, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8176928162574768, -0.01201647985726595, 0.006294346414506435, -1.5802624225616455, -0.0715266615152359, 1.5917067527770996, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06504157930612564, -0.016212711110711098, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8184558153152466, -0.013923857361078262, -0.00858320016413927, -1.5802624225616455, -0.07305257022380829, 1.5917067527770996, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06618601083755493, -0.016212711110711098, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02040894143283367, -0.021553369238972664, -1.580643892288208, -0.0879301130771637, 1.5917067527770996, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.024223696440458298, -0.028038453310728073, -1.580643892288208, -0.09861142933368683, 1.592088222503662, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.026512550190091133, -0.03147173300385475, -1.5810253620147705, -0.10547798871994019, 1.5947585105895996, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02727550081908703, -0.03337911143898964, -1.5810253620147705, -0.10929274559020996, 1.595902919769287, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.034142062067985535, -1.5810253620147705, -0.10967422276735306, 1.5955214500427246, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.01583123579621315, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.5817883014678955, -0.11005569249391556, 1.595902919769287, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.01583123579621315, 1.6866941452026367, 0.1031891331076622, -1.7935073375701904, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.584840178489685, -0.11081864684820175, 1.596665859222412, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.5852216482162476, -0.11272602528333664, 1.5993362665176392, -0.00047567090950906277, 0.00047567090950906277], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.58407723903656, -0.11310750246047974, 1.5993362665176392, -0.0014137416146695614, 0.0014137416146695614], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.5779736042022705, -0.11310750246047974, 1.5997177362442017, -0.00041501421947032213, 0.00041501421947032213], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.573395848274231, -0.11310750246047974, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.5730143785476685, -0.11272602528333664, 1.6000992059707642, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.01583123579621315, 1.6866941452026367, 0.1031891331076622, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.5699626207351685, -0.11272602528333664, 1.6004806756973267, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.5699626207351685, -0.11272602528333664, 1.6004806756973267, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.5699626207351685, -0.11272602528333664, 1.6004806756973267, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.5699626207351685, -0.11272602528333664, 1.6004806756973267, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.01583123579621315, 1.6863126754760742, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.027656977996230125, -0.03490501269698143, -1.5699626207351685, -0.11272602528333664, 1.6027694940567017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.028038453310728073, -0.03490501269698143, -1.5699626207351685, -0.11272602528333664, 1.6027694940567017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.01583123579621315, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02841992862522602, -0.03490501269698143, -1.5691996812820435, -0.11234454810619354, 1.6027694940567017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02841992862522602, -0.03490501269698143, -1.566147804260254, -0.11234454810619354, 1.6027694940567017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.01583123579621315, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02841992862522602, -0.03490501269698143, -1.566147804260254, -0.11272602528333664, 1.6023880243301392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.01583123579621315, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.566147804260254, -0.11234454810619354, 1.6023880243301392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11234454810619354, 1.6020065546035767, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.566147804260254, -0.11234454810619354, 1.5993362665176392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6863126754760742, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5993362665176392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.566147804260254, -0.11234454810619354, 1.5993362665176392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11234454810619354, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1035706102848053, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6866941452026367, 0.1039520874619484, -1.793125867843628, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06656748056411743, -0.016212711110711098, 1.6832607984542847, 0.10662241280078888, -1.7915998697280884, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11234454810619354, 1.6000992059707642, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.06580453366041183, -0.016212711110711098, 1.6268024444580078, 0.10662241280078888, -1.737048864364624, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6000992059707642, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.05893797054886818, -0.01888304017484188, 1.5836957693099976, 0.11005569249391556, -1.6962310075759888, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6004806756973267, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.04901960864663124, -0.024223696440458298, 1.560807228088379, 0.11081864684820175, -1.6729609966278076, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6008621454238892, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.0394827201962471, -0.02880140393972397, 1.5482184886932373, 0.11730372905731201, -1.659609317779541, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6027694940567017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.03299763426184654, -0.03299763426184654, 1.5417333841323853, 0.11768520623445511, -1.6519798040390015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6027694940567017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.027656977996230125, -0.03528648987412453, 1.5344853401184082, 0.12149996310472488, -1.6489280462265015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6027694940567017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.025749599561095238, -0.03643091395497322, 1.5344853401184082, 0.12149996310472488, -1.6481651067733765, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6023880243301392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.024986648932099342, -0.03681239113211632, 1.5306706428527832, 0.12226291000843048, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11234454810619354, 1.6023880243301392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.024223696440458298, -0.03681239113211632, 1.5306706428527832, 0.12226291000843048, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6020065546035767, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.02536812424659729, -0.03604944050312042, 1.5306706428527832, 0.12149996310472488, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6016250848770142, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.03223468363285065, -0.032616160809993744, 1.5310521125793457, 0.11692225188016891, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5993362665176392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.03681239113211632, -0.031090257689356804, 1.5306706428527832, 0.11501488089561462, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5993362665176392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.03795681521296501, -0.029564354568719864, 1.5306706428527832, 0.11425192654132843, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.03795681521296501, -0.029564354568719864, 1.5310521125793457, 0.11387044936418533, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5993362665176392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.0394827201962471, -0.029182879254221916, 1.5306706428527832, 0.11348897218704224, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.04100862145423889, -0.02841992862522602, 1.5306706428527832, 0.11272602528333664, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.04100862145423889, -0.02841992862522602, 1.5306706428527832, 0.11043716967105865, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.04100862145423889, -0.02841992862522602, 1.5306706428527832, 0.11043716967105865, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6000992059707642, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.04100862145423889, -0.028038453310728073, 1.5306706428527832, 0.11005569249391556, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6000992059707642, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.04100862145423889, -0.027656977996230125, 1.5306706428527832, 0.10929274559020996, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6000992059707642, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.04100862145423889, -0.027656977996230125, 1.5306706428527832, 0.10852979123592377, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6004806756973267, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5306706428527832, 0.10662241280078888, -1.645494818687439, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6008621454238892, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5306706428527832, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6027694940567017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5306706428527832, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6027694940567017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5306706428527832, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6027694940567017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5302891731262207, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6023880243301392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5302891731262207, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6023880243301392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5302891731262207, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6020065546035767, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5302891731262207, 0.10662241280078888, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.6016250848770142, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5302891731262207, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5993362665176392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5302891731262207, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5993362665176392, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5302891731262207, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5302891731262207, 0.10662241280078888, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5302891731262207, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5302891731262207, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.040627144277095795, -0.027656977996230125, 1.5302891731262207, 0.10624094307422638, -1.6458762884140015, -0.0, 0.0, 0.8203631639480591, -0.02880140393972397, -0.03490501269698143, -1.5657663345336914, -0.11272602528333664, 1.5997177362442017, -0.0003549869579728693, 0.0003549869579728693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000033/meta.json b/rc-table30-v2__rc-dos-w1/000033/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f1b572d42aa736fd4ffdacbc9a35c4a38474f81
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000033/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Open the drawer, put the bottle opener inside, and close the drawer.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 774,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000033/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000033/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..b96e8181850c8bb289cf2a304a34fea6fe9b4395
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000033/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000033/temporal.json b/rc-table30-v2__rc-dos-w1/000033/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..4161175ffe3f9f05befc404d8db73aef1c4d1433
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000033/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.7669565677642822, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08297093212604523, -1.7515449523925781, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09212634712457657, -0.005912871100008488, -1.644731879234314, -0.09327077120542526, 1.7351415157318115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08258945494890213, -1.7515449523925781, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09212634712457657, -0.005912871100008488, -1.6424429416656494, -0.09365224838256836, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08258945494890213, -1.7511634826660156, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09212634712457657, -0.005912871100008488, -1.6424429416656494, -0.09365224838256836, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08297093212604523, -1.7515449523925781, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09212634712457657, -0.005912871100008488, -1.642824411392212, -0.09365224838256836, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08297093212604523, -1.7511634826660156, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09212634712457657, -0.005912871100008488, -1.642824411392212, -0.09365224838256836, 1.7343785762786865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08297093212604523, -1.7511634826660156, -6.083200787543319e-05, 6.083200787543319e-05, 0.8009079098701477, -0.09250781685113907, -0.005912871100008488, -1.642824411392212, -0.09365224838256836, 1.7343785762786865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08297093212604523, -1.7515449523925781, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09212634712457657, -0.005912871100008488, -1.642824411392212, -0.09365224838256836, 1.7343785762786865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08258945494890213, -1.7515449523925781, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09212634712457657, -0.005912871100008488, -1.642824411392212, -0.09365224838256836, 1.7343785762786865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.059319447726011276, -0.004386968910694122, 1.578355073928833, 0.08297093212604523, -1.7515449523925781, -6.083200787543319e-05, 6.083200787543319e-05, 0.8009079098701477, -0.09212634712457657, -0.005912871100008488, -1.6432058811187744, -0.09365224838256836, 1.7343785762786865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08258945494890213, -1.7511634826660156, -6.083200787543319e-05, 6.083200787543319e-05, 0.8009079098701477, -0.09212634712457657, -0.005912871100008488, -1.6432058811187744, -0.09365224838256836, 1.7343785762786865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08258945494890213, -1.7511634826660156, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09250781685113907, -0.005912871100008488, -1.643587350845337, -0.09365224838256836, 1.7343785762786865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08297093212604523, -1.7511634826660156, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09212634712457657, -0.005912871100008488, -1.6439688205718994, -0.09365224838256836, 1.7343785762786865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08297093212604523, -1.7515449523925781, -6.083200787543319e-05, 6.083200787543319e-05, 0.8009079098701477, -0.09212634712457657, -0.005912871100008488, -1.6439688205718994, -0.09365224838256836, 1.7343785762786865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.059319447726011276, -0.004386968910694122, 1.5779736042022705, 0.08258945494890213, -1.7519264221191406, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09212634712457657, -0.005912871100008488, -1.6439688205718994, -0.09365224838256836, 1.7343785762786865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.059319447726011276, -0.004386968910694122, 1.578355073928833, 0.08258945494890213, -1.7538337707519531, -6.083200787543319e-05, 6.083200787543319e-05, 0.8009079098701477, -0.09212634712457657, -0.005912871100008488, -1.6439688205718994, -0.09365224838256836, 1.7343785762786865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.06275273114442825, 0.001716639962978661, 1.5779736042022705, 0.08182650804519653, -1.7538337707519531, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09250781685113907, -0.005912871100008488, -1.6439688205718994, -0.09365224838256836, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7803082466125488, -0.06580453366041183, 0.03795681521296501, 1.5779736042022705, 0.07801175117492676, -1.7507820129394531, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09250781685113907, -0.005912871100008488, -1.643587350845337, -0.09365224838256836, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7928969264030457, -0.08449683338403702, 0.10471503436565399, 1.578355073928833, 0.08335240930318832, -1.7942702770233154, -6.083200787543319e-05, 6.083200787543319e-05, 0.8009079098701477, -0.09212634712457657, -0.005912871100008488, -1.643587350845337, -0.09403372555971146, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7894636392593384, -0.14286258816719055, 0.16346226632595062, 1.578355073928833, 0.0883115902543068, -1.9228274822235107, -6.083200787543319e-05, 6.083200787543319e-05, 0.8009079098701477, -0.09212634712457657, -0.005912871100008488, -1.643587350845337, -0.09365224838256836, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.778019368648529, -0.2481498420238495, 0.1848248988389969, 1.5779736042022705, 0.1489662081003189, -2.10898756980896, -6.083200787543319e-05, 6.083200787543319e-05, 0.8009079098701477, -0.09250781685113907, -0.005912871100008488, -1.6439688205718994, -0.09403372555971146, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.76276034116745, -0.3728923499584198, 0.18978407979011536, 1.5779736042022705, 0.2611200213432312, -2.3088808059692383, -6.083200787543319e-05, 6.083200787543319e-05, 0.8012893795967102, -0.09250781685113907, -0.005912871100008488, -1.6439688205718994, -0.09403372555971146, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7532234787940979, -0.5018310546875, 0.1993209719657898, 1.5764477252960205, 0.37861448526382446, -2.50152587890625, -0.00023680592130403966, 0.00023680592130403966, 0.8012893795967102, -0.09212634712457657, -0.005912871100008488, -1.6439688205718994, -0.09403372555971146, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7478827834129333, -0.5960555672645569, 0.2138170450925827, 1.5772106647491455, 0.4503318965435028, -2.6392385959625244, -0.006690969690680504, 0.006690969690680504, 0.8012893795967102, -0.09212634712457657, -0.005912871100008488, -1.6439688205718994, -0.09403372555971146, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7413977384567261, -0.6639581918716431, 0.2294575423002243, 1.5772106647491455, 0.49305713176727295, -2.734607458114624, -0.013708529993891716, 0.013708529993891716, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.734760046005249, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7299534678459167, -0.7169833183288574, 0.2443350851535797, 1.5787365436553955, 0.5136567950248718, -2.8078508377075195, -0.01585409976541996, 0.01585409976541996, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.7351415157318115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7188906669616699, -0.7589455842971802, 0.2599755823612213, 1.578355073928833, 0.5285343527793884, -2.8555352687835693, -0.01585409976541996, 0.01585409976541996, 0.8009079098701477, -0.09212634712457657, -0.005531395319849253, -1.643587350845337, -0.09403372555971146, 1.7351415157318115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7112611532211304, -0.7944228053092957, 0.2759975492954254, 1.578355073928833, 0.5365453362464905, -2.8814754486083984, -0.01585409976541996, 0.01585409976541996, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.7351415157318115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7017242908477783, -0.8234149813652039, 0.2931639552116394, 1.578355073928833, 0.5399786233901978, -2.897878885269165, -0.01585409976541996, 0.01585409976541996, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09403372555971146, 1.7351415157318115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6956206560134888, -0.846684992313385, 0.3107118308544159, 1.578355073928833, 0.5430304408073425, -2.903219699859619, -0.015835201367735863, 0.015835201367735863, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09403372555971146, 1.7351415157318115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6914244294166565, -0.8657587766647339, 0.3255893886089325, 1.5787365436553955, 0.5453193187713623, -2.9036011695861816, -0.015346105210483074, 0.015346105210483074, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.7351415157318115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6837949156761169, -0.8802548050880432, 0.3370336592197418, 1.578355073928833, 0.5464637279510498, -2.903219699859619, -0.015066011808812618, 0.015066011808812618, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09403372555971146, 1.735522985458374, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6734950542449951, -0.8901731967926025, 0.3442816734313965, 1.5787365436553955, 0.5464637279510498, -2.9028382301330566, -0.014529058709740639, 0.014529058709740639, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.735522985458374, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -0.8978027105331421, 0.34924086928367615, 1.578355073928833, 0.5464637279510498, -2.899405002593994, -0.014519854448735714, 0.014519854448735714, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.735522985458374, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.657473087310791, -0.9058136940002441, 0.3545815348625183, 1.578355073928833, 0.5464637279510498, -2.8982603549957275, -0.014034820720553398, 0.014034820720553398, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.735522985458374, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6521324515342712, -0.9153505563735962, 0.3599221706390381, 1.578355073928833, 0.5460822582244873, -2.8952085971832275, -0.013807951472699642, 0.013807951472699642, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.7359044551849365, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6483176946640015, -0.9252689480781555, 0.36411839723587036, 1.578355073928833, 0.5460822582244873, -2.8952085971832275, -0.013277621939778328, 0.013277621939778328, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.7359044551849365, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6464102864265442, -0.9336614012718201, 0.3686961233615875, 1.578355073928833, 0.5460822582244873, -2.894827127456665, -0.013268697075545788, 0.013268697075545788, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.7359044551849365, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6425955891609192, -0.9393835067749023, 0.3725108802318573, 1.578355073928833, 0.5460822582244873, -2.8944456577301025, -0.012127158232033253, 0.012127158232033253, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.736285924911499, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6406881809234619, -0.9439612627029419, 0.3747997283935547, 1.578355073928833, 0.5457007884979248, -2.8944456577301025, -0.009965375997126102, 0.009965375997126102, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09403372555971146, 1.7366673946380615, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6399252414703369, -0.9466315507888794, 0.3774700462818146, 1.578355073928833, 0.5457007884979248, -2.894827127456665, -0.006436447147279978, 0.006436447147279978, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09441519528627396, 1.738956332206726, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6376363635063171, -0.9500648379325867, 0.38090333342552185, 1.578355073928833, 0.5457007884979248, -2.8952085971832275, -0.002207641489803791, 0.002207641489803791, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09441519528627396, 1.738956332206726, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6368734240531921, -0.951209306716919, 0.38319218158721924, 1.578355073928833, 0.5449378490447998, -2.8959715366363525, -0.0006466757040470839, 0.0006466757040470839, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09441519528627396, 1.738956332206726, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6368734240531921, -0.951972246170044, 0.3839551508426666, 1.5787365436553955, 0.5449378490447998, -2.9028382301330566, -0.0006466757040470839, 0.0006466757040470839, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09441519528627396, 1.738956332206726, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6372548937797546, -0.951972246170044, 0.3847180902957916, 1.578355073928833, 0.5449378490447998, -2.903219699859619, -0.0006466757040470839, 0.0006466757040470839, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09441519528627396, 1.7385748624801636, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6380178332328796, -0.951972246170044, 0.3847180902957916, 1.578355073928833, 0.5449378490447998, -2.907034397125244, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09441519528627396, 1.7385748624801636, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6406881809234619, -0.951972246170044, 0.3847180902957916, 1.5779736042022705, 0.5453193187713623, -2.907797336578369, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09441519528627396, 1.7385748624801636, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6445029377937317, -0.951972246170044, 0.3847180902957916, 1.5764477252960205, 0.5449378490447998, -2.910086154937744, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09441519528627396, 1.7385748624801636, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6475547552108765, -0.951209306716919, 0.3839551508426666, 1.576829195022583, 0.5449378490447998, -2.910086154937744, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09441519528627396, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.648699164390564, -0.9477760195732117, 0.38090333342552185, 1.576829195022583, 0.5449378490447998, -2.910086154937744, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.6439688205718994, -0.09441519528627396, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6498435735702515, -0.9409094452857971, 0.3763256371021271, 1.5787365436553955, 0.5453193187713623, -2.910086154937744, -0.0006466757040470839, 0.0006466757040470839, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09441519528627396, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.650225043296814, -0.9317540526390076, 0.369840532541275, 1.5787365436553955, 0.5453193187713623, -2.910086154937744, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09441519528627396, 1.737811803817749, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6509880423545837, -0.9214541912078857, 0.36335545778274536, 1.5787365436553955, 0.5449378490447998, -2.910086154937744, -0.0006466757040470839, 0.0006466757040470839, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09441519528627396, 1.737811803817749, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6528953909873962, -0.9119172692298889, 0.3568703830242157, 1.5787365436553955, 0.54417484998703, -2.910086154937744, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09441519528627396, 1.737811803817749, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.655947208404541, -0.9027618765830994, 0.35000380873680115, 1.5787365436553955, 0.5437933802604675, -2.9097046852111816, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09441519528627396, 1.737811803817749, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6593804955482483, -0.8943694233894348, 0.3423742949962616, 1.5787365436553955, 0.5437933802604675, -2.910086154937744, -0.0006466757040470839, 0.0006466757040470839, 0.8009079098701477, -0.09212634712457657, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.737811803817749, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6628137826919556, -0.8848325610160828, 0.33588922023773193, 1.5787365436553955, 0.54417484998703, -2.910086154937744, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.737811803817749, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6658655405044556, -0.8752956390380859, 0.3290226459503174, 1.578355073928833, 0.54417484998703, -2.910086154937744, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.737811803817749, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6681544184684753, -0.8661402463912964, 0.3213931620121002, 1.578355073928833, 0.5445563197135925, -2.910086154937744, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.737811803817749, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6704432964324951, -0.8569847941398621, 0.31452658772468567, 1.578355073928833, 0.5449378490447998, -2.9104676246643066, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.737811803817749, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6734950542449951, -0.84744793176651, 0.308041512966156, 1.578355073928833, 0.5449378490447998, -2.913900852203369, -0.0006466757040470839, 0.0006466757040470839, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.737811803817749, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6773098111152649, -0.8371480703353882, 0.30079346895217896, 1.578355073928833, 0.5445563197135925, -2.9142825603485107, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6807430982589722, -0.8257037997245789, 0.2931639552116394, 1.578355073928833, 0.54417484998703, -2.9146640300750732, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6860837936401367, -0.8154039978981018, 0.28553444147109985, 1.577592134475708, 0.5437933802604675, -2.9180972576141357, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.692568838596344, -0.8062485456466675, 0.2790493667125702, 1.577592134475708, 0.5437933802604675, -2.9180972576141357, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.699053943157196, -0.7974746227264404, 0.2725642919540405, 1.578355073928833, 0.5437933802604675, -2.9219119548797607, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7028687000274658, -0.7848859429359436, 0.2634088695049286, 1.578355073928833, 0.5437933802604675, -2.9222934246063232, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7051575779914856, -0.770008385181427, 0.25310903787612915, 1.578355073928833, 0.5437933802604675, -2.9257266521453857, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7059205174446106, -0.7547493577003479, 0.24357213079929352, 1.578355073928833, 0.5430304408073425, -2.9257266521453857, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09517814964056015, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7070649266242981, -0.7421606779098511, 0.23479819297790527, 1.5779736042022705, 0.5422675013542175, -2.9261081218719482, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7097352743148804, -0.7314793467521667, 0.22716869413852692, 1.578355073928833, 0.5422675013542175, -2.9295413494110107, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7143129706382751, -0.7238498330116272, 0.22068360447883606, 1.5779736042022705, 0.54264897108078, -2.9329748153686523, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09517814964056015, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7223239541053772, -0.7192721366882324, 0.2157244235277176, 1.577592134475708, 0.5449378490447998, -2.933356285095215, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7310978770256042, -0.7166017889976501, 0.212672621011734, 1.5779736042022705, 0.5464637279510498, -2.9367895126342773, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7375829815864563, -0.7131685614585876, 0.20962081849575043, 1.577592134475708, 0.5468451976776123, -2.9367895126342773, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7429236173629761, -0.7082093358039856, 0.20656901597976685, 1.5779736042022705, 0.5464637279510498, -2.9367895126342773, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7463569045066833, -0.700579822063446, 0.20237277448177338, 1.5779736042022705, 0.5460822582244873, -2.9367895126342773, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7486457824707031, -0.691042959690094, 0.1966506391763687, 1.5779736042022705, 0.5453193187713623, -2.93717098236084, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7524605393409729, -0.6807430982589722, 0.19054703414440155, 1.5779736042022705, 0.5445563197135925, -2.9406042098999023, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7585641145706177, -0.6712062358856201, 0.18520638346672058, 1.5779736042022705, 0.5430304408073425, -2.9413671493530273, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.6635767221450806, 0.17986571788787842, 1.5779736042022705, 0.5430304408073425, -2.9444189071655273, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7738231420516968, -0.655184268951416, 0.17338064312934875, 1.5779736042022705, 0.543411910533905, -2.9444189071655273, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09517814964056015, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7806897163391113, -0.6445029377937317, 0.164988175034523, 1.5779736042022705, 0.5453193187713623, -2.9444189071655273, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.6311513185501099, 0.15545128285884857, 1.5779736042022705, 0.5460822582244873, -2.9444189071655273, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7902265787124634, -0.6162737607955933, 0.14629587531089783, 1.5779736042022705, 0.5457007884979248, -2.94480037689209, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8005264401435852, -0.6071183085441589, 0.13942931592464447, 1.5779736042022705, 0.5460822582244873, -2.947852373123169, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.813115119934082, -0.6017776727676392, 0.1337071806192398, 1.5779736042022705, 0.5468451976776123, -2.9482338428497314, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8249408602714539, -0.5975814461708069, 0.12836651504039764, 1.578355073928833, 0.5479896068572998, -2.951667070388794, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09517814964056015, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8344777822494507, -0.5930037498474121, 0.12264438718557358, 1.578355073928833, 0.5498970150947571, -2.9520485401153564, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840962827205658, -0.5861371755599976, 0.11577782779932022, 1.578355073928833, 0.5502784848213196, -2.954718828201294, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.5781261920928955, 0.10852979123592377, 1.5787365436553955, 0.5502784848213196, -2.954718828201294, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.846684992313385, -0.5708781480789185, 0.1024261862039566, 1.5787365436553955, 0.5498970150947571, -2.9551002979278564, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09517814964056015, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.5636301040649414, 0.09708552807569504, 1.5787365436553955, 0.5495155453681946, -2.955481767654419, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8520256280899048, -0.5556191205978394, 0.09060044586658478, 1.5787365436553955, 0.5468451976776123, -2.957007646560669, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09517814964056015, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8543145060539246, -0.5468451976776123, 0.08373387902975082, 1.5787365436553955, 0.5464637279510498, -2.959296464920044, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8558403849601746, -0.5399786233901978, 0.07686731964349747, 1.5787365436553955, 0.5457007884979248, -2.9627299308776855, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8577477931976318, -0.535400927066803, 0.0711451917886734, 1.5787365436553955, 0.5460822582244873, -2.9665446281433105, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8585107326507568, -0.5319676399230957, 0.06733043491840363, 1.578355073928833, 0.5457007884979248, -2.969977855682373, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8588922023773193, -0.5300602912902832, 0.06466010212898254, 1.578355073928833, 0.5453193187713623, -2.9703593254089355, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8623254895210266, -0.5281528830528259, 0.06160829961299896, 1.578355073928833, 0.5453193187713623, -2.9703593254089355, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8634698987007141, -0.5270084738731384, 0.057793546468019485, 1.578355073928833, 0.5457007884979248, -2.970740795135498, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8646143078804016, -0.5258640646934509, 0.05436026677489281, 1.578355073928833, 0.5457007884979248, -2.9711222648620605, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.005531395319849253, -1.643587350845337, -0.09479667246341705, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8646143078804016, -0.5258640646934509, 0.05054550990462303, 1.578355073928833, 0.5453193187713623, -2.973792552947998, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.09250781685113907, -0.000572213320992887, -1.643587350845337, -0.08869306743144989, 1.7381932735443115, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8646143078804016, -0.5247195959091187, 0.04901960864663124, 1.578355073928833, 0.5457007884979248, -2.9734110832214355, -0.0006429863278754056, 0.0006429863278754056, 0.8009079098701477, -0.0864042118191719, 0.04253452271223068, -1.6439688205718994, -0.05359731614589691, 1.731708288192749, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8646143078804016, -0.5247195959091187, 0.04634927958250046, 1.578355073928833, 0.5457007884979248, -2.9734110832214355, -0.0006429863278754056, 0.0006429863278754056, 0.7944228053092957, -0.07915617525577545, 0.1325627565383911, -1.6439688205718994, 0.02040894143283367, 1.6859312057495117, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8615625500679016, -0.5247195959091187, 0.04406042397022247, 1.5787365436553955, 0.5457007884979248, -2.973029613494873, -0.0006429863278754056, 0.0006429863278754056, 0.7425421476364136, -0.08525978773832321, 0.22793163359165192, -1.643587350845337, 0.1199740618467331, 1.6218433380126953, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8558403849601746, -0.5243381261825562, 0.04253452271223068, 1.579118013381958, 0.5460822582244873, -2.970740795135498, -0.0006429863278754056, 0.0006429863278754056, 0.6189440488815308, -0.1203555315732956, 0.3133821487426758, -1.643587350845337, 0.22144655883312225, 1.5707255601882935, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.5243381261825562, 0.04139009863138199, 1.5794994831085205, 0.5460822582244873, -2.969977855682373, -0.0006429863278754056, 0.0006429863278754056, 0.46330204606056213, -0.20389868319034576, 0.39387351274490356, -1.643587350845337, 0.3271152675151825, 1.5234225988388062, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8367666006088257, -0.5243381261825562, 0.038719769567251205, 1.5794994831085205, 0.5460822582244873, -2.969977855682373, -0.0006429863278754056, 0.0006429863278754056, 0.3244449496269226, -0.33474478125572205, 0.4804684519767761, -1.645494818687439, 0.4350728690624237, 1.4753566980361938, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8257037997245789, -0.5243381261825562, 0.03757534176111221, 1.579118013381958, 0.5460822582244873, -2.9703593254089355, -0.0006429863278754056, 0.0006429863278754056, 0.2145799994468689, -0.5006866455078125, 0.579270601272583, -1.6451133489608765, 0.5399786233901978, 1.4433127641677856, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.5243381261825562, 0.037193864583969116, 1.5794994831085205, 0.5460822582244873, -2.9703593254089355, -0.0006429863278754056, 0.0006429863278754056, 0.1363775134086609, -0.6776912808418274, 0.6944762468338013, -1.6451133489608765, 0.6425955891609192, 1.425001859664917, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8100633025169373, -0.5243381261825562, 0.037193864583969116, 1.579118013381958, 0.5460822582244873, -2.9703593254089355, -0.0006429863278754056, 0.0006429863278754056, 0.08297093212604523, -0.8588922023773193, 0.8264667987823486, -1.6424429416656494, 0.7547493577003479, 1.402876377105713, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8070115447044373, -0.5247195959091187, 0.037193864583969116, 1.579118013381958, 0.5460822582244873, -2.9703593254089355, -0.0006429863278754056, 0.0006429863278754056, 0.04482337832450867, -1.0191118717193604, 0.953498125076294, -1.638246774673462, 0.8684290647506714, 1.3742656707763672, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80510413646698, -0.5258640646934509, 0.03795681521296501, 1.579118013381958, 0.5460822582244873, -2.970740795135498, -0.0006429863278754056, 0.0006429863278754056, 0.0009536888683214784, -1.1373693943023682, 1.047722578048706, -1.564621925354004, 0.953498125076294, 1.3235293626785278, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5262455344200134, 0.040245670825242996, 1.5787365436553955, 0.5457007884979248, -2.970740795135498, -0.0006429863278754056, 0.0006429863278754056, -0.031090257689356804, -1.2209124565124512, 1.107614278793335, -1.50244140625, 1.0088120698928833, 1.2853819131851196, -0.0019015209982171655, 0.0019015209982171655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5281528830528259, 0.04177157208323479, 1.578355073928833, 0.5457007884979248, -2.9711222648620605, -0.0006429863278754056, 0.0006429863278754056, -0.049782559275627136, -1.2842373847961426, 1.1457618474960327, -1.4665827751159668, 1.0545891523361206, 1.2609673738479614, -0.00667747063562274, 0.00667747063562274], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5331120491027832, 0.04253452271223068, 1.578355073928833, 0.5457007884979248, -2.9711222648620605, -0.0006429863278754056, 0.0006429863278754056, -0.05855649709701538, -1.3208590745925903, 1.1572060585021973, -1.4459830522537231, 1.0614557266235352, 1.2468528747558594, -0.011706966906785965, 0.011706966906785965], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5395971536636353, 0.04329747334122658, 1.578355073928833, 0.5460822582244873, -2.9711222648620605, -0.0006429863278754056, 0.0006429863278754056, -0.06008239835500717, -1.350232720375061, 1.1633096933364868, -1.4337759017944336, 1.0568779706954956, 1.2399863004684448, -0.01571251079440117, 0.01571251079440117], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5445563197135925, 0.04482337832450867, 1.578355073928833, 0.5460822582244873, -2.9734110832214355, -0.0006429863278754056, 0.0006429863278754056, -0.06275273114442825, -1.3807507753372192, 1.1667429208755493, -1.427672266960144, 1.053444743156433, 1.2296863794326782, -0.017773132771253586, 0.017773132771253586], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, -0.5476081371307373, 0.04596780240535736, 1.578355073928833, 0.5457007884979248, -2.9734110832214355, -0.0006429863278754056, 0.0006429863278754056, -0.06351567804813385, -1.4055466651916504, 1.1663614511489868, -1.421187162399292, 1.038948655128479, 1.2266346216201782, -0.01973692886531353, 0.01973692886531353], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.5502784848213196, 0.046730753034353256, 1.578355073928833, 0.5460822582244873, -2.973029613494873, -0.0006429863278754056, 0.0006429863278754056, -0.06504157930612564, -1.426909327507019, 1.1644541025161743, -1.420424222946167, 1.0202564001083374, 1.2266346216201782, -0.01995481178164482, 0.01995481178164482], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.5510414242744446, 0.046730753034353256, 1.578355073928833, 0.5460822582244873, -2.973029613494873, -0.0006429863278754056, 0.0006429863278754056, -0.06504157930612564, -1.4475089311599731, 1.1629282236099243, -1.420424222946167, 1.0049973726272583, 1.2266346216201782, -0.01995481178164482, 0.01995481178164482], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.5514228940010071, 0.04711223021149635, 1.578355073928833, 0.5460822582244873, -2.973029613494873, -0.0006429863278754056, 0.0006429863278754056, -0.06504157930612564, -1.4642938375473022, 1.1602579355239868, -1.418898344039917, 0.9874494671821594, 1.2270160913467407, -0.01995481178164482, 0.01995481178164482], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.5529488325119019, 0.04787518084049225, 1.578355073928833, 0.5460822582244873, -2.9726481437683105, -0.0006429863278754056, 0.0006429863278754056, -0.06542305648326874, -1.4768825769424438, 1.1587319374084473, -1.4173723459243774, 0.9763866662979126, 1.2270160913467407, -0.01995481178164482, 0.01995481178164482], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.5533303022384644, 0.048256658017635345, 1.578355073928833, 0.5457007884979248, -2.9726481437683105, -0.0006429863278754056, 0.0006429863278754056, -0.06656748056411743, -1.486419439315796, 1.1568245887756348, -1.4173723459243774, 0.967231273651123, 1.2273975610733032, -0.01831933483481407, 0.01831933483481407], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.5544747114181519, 0.048256658017635345, 1.578355073928833, 0.5457007884979248, -2.9726481437683105, -0.0006429863278754056, 0.0006429863278754056, -0.06733043491840363, -1.4917601346969604, 1.1518653631210327, -1.4173723459243774, 0.9557870030403137, 1.2312123775482178, -0.015608911402523518, 0.015608911402523518], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.5544747114181519, 0.048256658017635345, 1.578355073928833, 0.5457007884979248, -2.9726481437683105, -0.0006429863278754056, 0.0006429863278754056, -0.06847485899925232, -1.494430422782898, 1.1457618474960327, -1.4185168743133545, 0.9454871416091919, 1.2354085445404053, -0.00798130314797163, 0.00798130314797163], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.5544747114181519, 0.048638131469488144, 1.578355073928833, 0.5457007884979248, -2.973029613494873, -0.0006429863278754056, 0.0006429863278754056, -0.06923781335353851, -1.495193362236023, 1.1427099704742432, -1.418135404586792, 0.9386205673217773, 1.2438009977340698, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.5552376508712769, 0.050164032727479935, 1.5779736042022705, 0.5457007884979248, -2.973792552947998, -0.0006429863278754056, 0.0006429863278754056, -0.06885633617639542, -1.4917601346969604, 1.1446174383163452, -1.41775381565094, 0.9416723847389221, 1.2537193298339844, -0.008178673684597015, 0.008178673684597015], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.5552376508712769, 0.05092698708176613, 1.5779736042022705, 0.5453193187713623, -2.974555492401123, -0.0006429863278754056, 0.0006429863278754056, -0.06504157930612564, -1.4715418815612793, 1.1457618474960327, -1.4173723459243774, 0.9470130205154419, 1.256771206855774, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, -0.5552376508712769, 0.05092698708176613, 1.5772106647491455, 0.5453193187713623, -2.977607488632202, -0.0006429863278754056, 0.0006429863278754056, -0.058175019919872284, -1.4303425550460815, 1.1415655612945557, -1.41775381565094, 0.954261064529419, 1.2563897371292114, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, -0.5563820600509644, 0.051689937710762024, 1.5764477252960205, 0.5453193187713623, -2.9779889583587646, -0.0006429863278754056, 0.0006429863278754056, -0.04482337832450867, -1.3712139129638672, 1.1385138034820557, -1.41775381565094, 0.9603646993637085, 1.2441824674606323, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, -0.5575265288352966, 0.05245288833975792, 1.5764477252960205, 0.5453193187713623, -2.977607488632202, -0.0006429863278754056, 0.0006429863278754056, -0.025749599561095238, -1.3006408214569092, 1.1358433961868286, -1.41775381565094, 0.9752422571182251, 1.2357900142669678, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, -0.5582894682884216, 0.05245288833975792, 1.576829195022583, 0.5453193187713623, -2.976081371307373, -0.0006429863278754056, 0.0006429863278754056, 0.002861066721379757, -1.2201495170593262, 1.1308842897415161, -1.41775381565094, 0.9874494671821594, 1.2293049097061157, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, -0.5586709380149841, 0.05245288833975792, 1.5772106647491455, 0.5453193187713623, -2.972266674041748, -0.0006429863278754056, 0.0006429863278754056, 0.04139009863138199, -1.1381323337554932, 1.1278324127197266, -1.41775381565094, 0.9939345121383667, 1.2266346216201782, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, -0.5594338774681091, 0.05245288833975792, 1.577592134475708, 0.5453193187713623, -2.9665446281433105, -0.0006429863278754056, 0.0006429863278754056, 0.09212634712457657, -1.058022379875183, 1.1301213502883911, -1.418135404586792, 1.0065232515335083, 1.2266346216201782, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, -0.5594338774681091, 0.05245288833975792, 1.578355073928833, 0.5453193187713623, -2.963874340057373, -0.0006429863278754056, 0.0006429863278754056, 0.1516365259885788, -0.9866865277290344, 1.1480506658554077, -1.41775381565094, 1.0114823579788208, 1.2308309078216553, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8039597272872925, -0.5594338774681091, 0.05245288833975792, 1.578355073928833, 0.5453193187713623, -2.962348461151123, -0.0006429863278754056, 0.0006429863278754056, 0.21725031733512878, -0.9386205673217773, 1.190394401550293, -1.4173723459243774, 1.0248340368270874, 1.2323567867279053, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5594338774681091, 0.05245288833975792, 1.578355073928833, 0.5453193187713623, -2.961585521697998, -0.0006429863278754056, 0.0006429863278754056, 0.28782328963279724, -0.9153505563735962, 1.2594414949417114, -1.41775381565094, 1.0488669872283936, 1.2277790307998657, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5594338774681091, 0.05245288833975792, 1.578355073928833, 0.5453193187713623, -2.957770586013794, -0.0006429863278754056, 0.0006429863278754056, 0.3583962619304657, -0.9149690866470337, 1.3448920249938965, -1.416990876197815, 1.0835813283920288, 1.203364610671997, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5594338774681091, 0.05245288833975792, 1.578355073928833, 0.5453193187713623, -2.954718828201294, -0.0006429863278754056, 0.0006429863278754056, 0.42553597688674927, -0.9340428709983826, 1.4368276596069336, -1.4173723459243774, 1.117914080619812, 1.1854352951049805, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5594338774681091, 0.05245288833975792, 1.578355073928833, 0.5453193187713623, -2.952430009841919, -0.0006429863278754056, 0.0006429863278754056, 0.49114975333213806, -0.9618905782699585, 1.5245670080184937, -1.4173723459243774, 1.1411840915679932, 1.1690318584442139, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5594338774681091, 0.05245288833975792, 1.578355073928833, 0.5453193187713623, -2.9512856006622314, -0.0006429863278754056, 0.0006429863278754056, 0.5540932416915894, -0.9985122680664062, 1.6035324335098267, -1.41775381565094, 1.1591134071350098, 1.1583504676818848, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5594338774681091, 0.05245288833975792, 1.578355073928833, 0.5453193187713623, -2.950904130935669, -0.0006429863278754056, 0.0006429863278754056, 0.6116960644721985, -1.042763352394104, 1.6775387525558472, -1.4173723459243774, 1.1728465557098389, 1.1488136053085327, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5594338774681091, 0.05245288833975792, 1.578355073928833, 0.5453193187713623, -2.950141191482544, -0.0006429863278754056, 0.0006429863278754056, 0.6654840707778931, -1.0946440696716309, 1.745822787284851, -1.41775381565094, 1.1892499923706055, 1.1400396823883057, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5594338774681091, 0.05245288833975792, 1.5779736042022705, 0.5453193187713623, -2.947852373123169, -0.0006429863278754056, 0.0006429863278754056, 0.7101167440414429, -1.1419470310211182, 1.7904554605484009, -1.41775381565094, 1.2006943225860596, 1.128213882446289, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.5594338774681091, 0.05245288833975792, 1.578355073928833, 0.5453193187713623, -2.947852373123169, -0.0006429863278754056, 0.0006429863278754056, 0.7444495558738708, -1.1846723556518555, 1.818684697151184, -1.4173723459243774, 1.2087053060531616, 1.117151141166687, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.5594338774681091, 0.05245288833975792, 1.578355073928833, 0.5457007884979248, -2.947852373123169, -0.0006429863278754056, 0.0006429863278754056, 0.7661936283111572, -1.2235828638076782, 1.8316547870635986, -1.41775381565094, 1.2232013940811157, 1.1102845668792725, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.805867075920105, -0.5594338774681091, 0.05245288833975792, 1.5779736042022705, 0.5457007884979248, -2.9482338428497314, -0.0006429863278754056, 0.0006429863278754056, 0.7799267768859863, -1.2518119812011719, 1.8343251943588257, -1.418135404586792, 1.2312123775482178, 1.1064698696136475, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80663001537323, -0.5594338774681091, 0.05245288833975792, 1.5764477252960205, 0.5457007884979248, -2.9482338428497314, -0.0006429863278754056, 0.0006429863278754056, 0.7883192300796509, -1.2754634618759155, 1.8324178457260132, -1.418135404586792, 1.2388418912887573, 1.101892113685608, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8070115447044373, -0.5594338774681091, 0.05245288833975792, 1.5764477252960205, 0.5457007884979248, -2.948615312576294, -0.0006429863278754056, 0.0006429863278754056, 0.7913710474967957, -1.2956817150115967, 1.8255512714385986, -1.41775381565094, 1.2411307096481323, 1.0908293724060059, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8085374236106873, -0.5594338774681091, 0.05245288833975792, 1.5764477252960205, 0.5457007884979248, -2.9512856006622314, -0.0006429863278754056, 0.0006429863278754056, 0.7940413355827332, -1.3174258470535278, 1.817158818244934, -1.418135404586792, 1.2418936491012573, 1.0801479816436768, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8089188933372498, -0.5594338774681091, 0.05245288833975792, 1.576829195022583, 0.5457007884979248, -2.9512856006622314, -0.0006429863278754056, 0.0006429863278754056, 0.7951858043670654, -1.338788390159607, 1.8076218366622925, -1.41775381565094, 1.2407492399215698, 1.0717555284500122, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8104447722434998, -0.5594338774681091, 0.05245288833975792, 1.5772106647491455, 0.5457007884979248, -2.951667070388794, -0.0006429863278754056, 0.0006429863278754056, 0.7982375621795654, -1.3555734157562256, 1.796177625656128, -1.4185168743133545, 1.2338826656341553, 1.0610742568969727, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.810826301574707, -0.5594338774681091, 0.05245288833975792, 1.5787365436553955, 0.5457007884979248, -2.953192949295044, -0.0006429863278754056, 0.0006429863278754056, 0.80357825756073, -1.3696879148483276, 1.7843518257141113, -1.41775381565094, 1.2155718803405762, 1.047722578048706, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.813115119934082, -0.5594338774681091, 0.05359731614589691, 1.5794994831085205, 0.5449378490447998, -2.954718828201294, -0.0006429863278754056, 0.0006429863278754056, 0.8112077713012695, -1.3822766542434692, 1.7774853706359863, -1.416990876197815, 1.193827748298645, 1.0355154275894165, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8173113465309143, -0.5594338774681091, 0.056267641484737396, 1.578355073928833, 0.5453193187713623, -2.954718828201294, -0.0006429863278754056, 0.0006429863278754056, 0.8188372850418091, -1.3967727422714233, 1.7717632055282593, -1.418135404586792, 1.177042841911316, 1.0236896276474, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8218890428543091, -0.5594338774681091, 0.05893797054886818, 1.5764477252960205, 0.5449378490447998, -2.9551002979278564, -0.0006429863278754056, 0.0006429863278754056, 0.8257037997245789, -1.4135576486587524, 1.7698558568954468, -1.41775381565094, 1.1453803777694702, 1.0114823579788208, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8253223299980164, -0.5594338774681091, 0.06046387553215027, 1.578355073928833, 0.5449378490447998, -2.9551002979278564, -0.0006429863278754056, 0.0006429863278754056, 0.8318074345588684, -1.433012843132019, 1.7660410404205322, -1.41775381565094, 1.1224918365478516, 0.994316041469574, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8264667987823486, -0.5598153471946716, 0.06160829961299896, 1.5779736042022705, 0.5449378490447998, -2.9551002979278564, -0.0006429863278754056, 0.0006429863278754056, 0.8367666006088257, -1.4456015825271606, 1.7523078918457031, -1.4173723459243774, 1.0942625999450684, 0.9756237268447876, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8272297382354736, -0.5594338774681091, 0.06198977679014206, 1.5779736042022705, 0.5449378490447998, -2.9551002979278564, -0.0006429863278754056, 0.0006429863278754056, 0.8413442969322205, -1.4559013843536377, 1.733997106552124, -1.4173723459243774, 1.0667964220046997, 0.955024003982544, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8264667987823486, -0.5598153471946716, 0.06313420087099075, 1.5779736042022705, 0.5449378490447998, -2.955481767654419, -0.0006429863278754056, 0.0006429863278754056, 0.8436331748962402, -1.4631494283676147, 1.7122529745101929, -1.4173723459243774, 1.036659836769104, 0.9336614012718201, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8249408602714539, -0.5598153471946716, 0.06466010212898254, 1.578355073928833, 0.5449378490447998, -2.955481767654419, -0.0006429863278754056, 0.0006429863278754056, 0.8470664620399475, -1.4681086540222168, 1.6905088424682617, -1.41775381565094, 1.0008010864257812, 0.9107728600502014, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, -0.5598153471946716, 0.06656748056411743, 1.5779736042022705, 0.5453193187713623, -2.9558632373809814, -0.0006429863278754056, 0.0006429863278754056, 0.8520256280899048, -1.4730678796768188, 1.6691462993621826, -1.4173723459243774, 0.9676127433776855, 0.8836880922317505, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8222705721855164, -0.5598153471946716, 0.06733043491840363, 1.578355073928833, 0.5453193187713623, -2.9581520557403564, -0.0006429863278754056, 0.0006429863278754056, 0.8558403849601746, -1.4814603328704834, 1.656557559967041, -1.4173723459243774, 0.9367132186889648, 0.8627069592475891, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8211261034011841, -0.5598153471946716, 0.06733043491840363, 1.578355073928833, 0.5453193187713623, -2.958533525466919, -0.0006429863278754056, 0.0006429863278754056, 0.8581292629241943, -1.493667483329773, 1.649309515953064, -1.4173723459243774, 0.9206912517547607, 0.8463035225868225, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8188372850418091, -0.5598153471946716, 0.06733043491840363, 1.578355073928833, 0.5453193187713623, -2.958533525466919, -0.0006429863278754056, 0.0006429863278754056, 0.8619440197944641, -1.5047303438186646, 1.6458762884140015, -1.4173723459243774, 0.9050507545471191, 0.8348592519760132, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8188372850418091, -0.5594338774681091, 0.06771191209554672, 1.5787365436553955, 0.5453193187713623, -2.958533525466919, -0.0006429863278754056, 0.0006429863278754056, 0.8646143078804016, -1.5165560245513916, 1.6432058811187744, -1.4173723459243774, 0.8978027105331421, 0.8283741474151611, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8173113465309143, -0.5598153471946716, 0.06771191209554672, 1.5787365436553955, 0.5453193187713623, -2.9581520557403564, -0.0006429863278754056, 0.0006429863278754056, 0.8653773069381714, -1.5291447639465332, 1.6474021673202515, -1.4173723459243774, 0.8932250142097473, 0.8260852694511414, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8165484070777893, -0.5598153471946716, 0.06809338182210922, 1.5787365436553955, 0.5457007884979248, -2.9581520557403564, -0.0006429863278754056, 0.0006429863278754056, 0.8661402463912964, -1.5417333841323853, 1.6554131507873535, -1.4173723459243774, 0.9039062857627869, 0.8264667987823486, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8161669373512268, -0.5598153471946716, 0.06809338182210922, 1.5787365436553955, 0.5457007884979248, -2.9581520557403564, -0.0006429863278754056, 0.0006429863278754056, 0.8676661252975464, -1.5516518354415894, 1.6634241342544556, -1.4173723459243774, 0.9111543297767639, 0.8264667987823486, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.5598153471946716, 0.06809338182210922, 1.5787365436553955, 0.5457007884979248, -2.9581520557403564, -0.0006429863278754056, 0.0006429863278754056, 0.8676661252975464, -1.5596628189086914, 1.6695277690887451, -1.4173723459243774, 0.9206912517547607, 0.8268482685089111, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.5598153471946716, 0.06809338182210922, 1.5787365436553955, 0.5457007884979248, -2.958533525466919, -0.0006429863278754056, 0.0006429863278754056, 0.8676661252975464, -1.564621925354004, 1.6748683452606201, -1.4173723459243774, 0.9260318875312805, 0.8283741474151611, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.5598153471946716, 0.06809338182210922, 1.5787365436553955, 0.5457007884979248, -2.9589149951934814, -0.0006429863278754056, 0.0006429863278754056, 0.8672846555709839, -1.5684367418289185, 1.6790646314620972, -1.4173723459243774, 0.9336614012718201, 0.8325703740119934, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.5598153471946716, 0.06847485899925232, 1.578355073928833, 0.5457007884979248, -2.9627299308776855, -0.0006429863278754056, 0.0006429863278754056, 0.8669031858444214, -1.571869969367981, 1.6844053268432617, -1.4173723459243774, 0.9397650361061096, 0.837911069393158, -0.008171327412128448, 0.008171327412128448], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.5598153471946716, 0.06847485899925232, 1.578355073928833, 0.5457007884979248, -2.9627299308776855, -0.0006429863278754056, 0.0006429863278754056, 0.8669031858444214, -1.5749218463897705, 1.6893644332885742, -1.4173723459243774, 0.9485389590263367, 0.841725766658783, -0.008178673684597015, 0.008178673684597015], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.5598153471946716, 0.06885633617639542, 1.578355073928833, 0.5457007884979248, -2.9665446281433105, -0.0006429863278754056, 0.0006429863278754056, 0.8669031858444214, -1.576829195022583, 1.6931792497634888, -1.4173723459243774, 0.9531166553497314, 0.8455405235290527, -0.008489737287163734, 0.008489737287163734], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.5598153471946716, 0.06885633617639542, 1.578355073928833, 0.5457007884979248, -2.966926097869873, -0.0006429863278754056, 0.0006429863278754056, 0.8669031858444214, -1.5779736042022705, 1.6973754167556763, -1.4173723459243774, 0.959220290184021, 0.84897381067276, -0.008572015911340714, 0.008572015911340714], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.06885633617639542, 1.5779736042022705, 0.5460822582244873, -2.9703593254089355, -0.0006429863278754056, 0.0006429863278754056, 0.8669031858444214, -1.579118013381958, 1.6996643543243408, -1.4173723459243774, 0.9634165167808533, 0.8497368097305298, -0.008874029852449894, 0.008874029852449894], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.06885633617639542, 1.5779736042022705, 0.5457007884979248, -2.9703593254089355, -0.0006429863278754056, 0.0006429863278754056, 0.8665217161178589, -1.579880952835083, 1.7015717029571533, -1.4173723459243774, 0.9683756828308105, 0.8524070978164673, -0.009335271082818508, 0.009335271082818508], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.06885633617639542, 1.5779736042022705, 0.5457007884979248, -2.970740795135498, -0.0006429863278754056, 0.0006429863278754056, 0.8653773069381714, -1.579880952835083, 1.7038605213165283, -1.41775381565094, 0.9710460305213928, 0.8535515666007996, -0.009703385643661022, 0.009703385643661022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.06885633617639542, 1.5779736042022705, 0.5460822582244873, -2.9741740226745605, -0.0006429863278754056, 0.0006429863278754056, 0.8649957776069641, -1.579880952835083, 1.7057678699493408, -1.4173723459243774, 0.9760051965713501, 0.8607995510101318, -0.010645155794918537, 0.010645155794918537], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.06885633617639542, 1.5779736042022705, 0.5457007884979248, -2.977607488632202, -0.0006429863278754056, 0.0006429863278754056, 0.8649957776069641, -1.579880952835083, 1.7084382772445679, -1.41775381565094, 0.9794384837150574, 0.8649957776069641, -0.012605483643710613, 0.012605483643710613], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.06885633617639542, 1.5779736042022705, 0.5460822582244873, -2.9779889583587646, -0.0006429863278754056, 0.0006429863278754056, 0.8649957776069641, -1.579880952835083, 1.7206454277038574, -1.41775381565094, 0.9794384837150574, 0.8722438216209412, -0.013072878122329712, 0.013072878122329712], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.06923781335353851, 1.5779736042022705, 0.5457007884979248, -2.979133367538452, -0.0006429863278754056, 0.0006429863278754056, 0.8649957776069641, -1.5722514390945435, 1.743533968925476, -1.41775381565094, 0.9817273020744324, 0.8756771087646484, -0.013072878122329712, 0.013072878122329712], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.06923781335353851, 1.577592134475708, 0.5460822582244873, -2.981422185897827, -0.0006429863278754056, 0.0006429863278754056, 0.8653773069381714, -1.5485999584197998, 1.7664225101470947, -1.41775381565094, 0.9836347103118896, 0.8764400482177734, -0.013072878122329712, 0.013072878122329712], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.07000076025724411, 1.577592134475708, 0.5457007884979248, -2.981422185897827, -0.0006429863278754056, 0.0006429863278754056, 0.8653773069381714, -1.501678466796875, 1.7744334936141968, -1.41775381565094, 0.9843976497650146, 0.8787289261817932, -0.01280754990875721, 0.01280754990875721], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.0715266615152359, 1.5779736042022705, 0.5457007884979248, -2.9840924739837646, -0.0006429863278754056, 0.0006429863278754056, 0.8665217161178589, -1.4295796155929565, 1.742771029472351, -1.41775381565094, 0.9744792580604553, 0.8813992738723755, -0.005997681524604559, 0.005997681524604559], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.07267109304666519, 1.577592134475708, 0.5457007884979248, -2.9848554134368896, -0.0006429863278754056, 0.0006429863278754056, 0.8669031858444214, -1.3132295608520508, 1.6386282444000244, -1.4173723459243774, 0.9153505563735962, 0.88979172706604, -0.0003129917604383081, 0.0003129917604383081], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.07381551712751389, 1.5779736042022705, 0.5460822582244873, -2.9848554134368896, -0.0006429863278754056, 0.0006429863278754056, 0.8558403849601746, -1.1591134071350098, 1.4662013053894043, -1.41775381565094, 0.8237964510917664, 0.9142061471939087, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.07381551712751389, 1.5779736042022705, 0.5457007884979248, -2.9848554134368896, -0.0006429863278754056, 0.0006429863278754056, 0.8382925391197205, -0.9874494671821594, 1.2636377811431885, -1.41775381565094, 0.7211795449256897, 0.9618905782699585, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.5598153471946716, 0.07381551712751389, 1.5779736042022705, 0.5457007884979248, -2.984473943710327, -0.0006429863278754056, 0.0006429863278754056, 0.8176928162574768, -0.811589241027832, 1.0503928661346436, -1.4173723459243774, 0.620851457118988, 1.0210193395614624, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8146410584449768, -0.5598153471946716, 0.07381551712751389, 1.578355073928833, 0.5457007884979248, -2.984473943710327, -0.0006429863278754056, 0.0006429863278754056, 0.7898451089859009, -0.6509880423545837, 0.8585107326507568, -1.41775381565094, 0.5296788215637207, 1.0877774953842163, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8100633025169373, -0.5598153471946716, 0.07495994865894318, 1.579118013381958, 0.5460822582244873, -2.981422185897827, -0.0006429863278754056, 0.0006429863278754056, 0.7589455842971802, -0.49496451020240784, 0.6784542798995972, -1.4173723459243774, 0.4346913993358612, 1.1648355722427368, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7997635006904602, -0.5598153471946716, 0.07877469807863235, 1.579118013381958, 0.5457007884979248, -2.979133367538452, -0.0006429863278754056, 0.0006429863278754056, 0.7387273907661438, -0.3873884081840515, 0.5430304408073425, -1.4173723459243774, 0.34771496057510376, 1.2277790307998657, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7879377603530884, -0.5640115737915039, 0.0864042118191719, 1.578355073928833, 0.5457007884979248, -2.975318431854248, -0.0006429863278754056, 0.0006429863278754056, 0.7288090586662292, -0.32673379778862, 0.4484245181083679, -1.4173723459243774, 0.26798656582832336, 1.2796597480773926, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7799267768859863, -0.5773632526397705, 0.09899290651082993, 1.5787365436553955, 0.5449378490447998, -2.9695963859558105, -0.0006429863278754056, 0.0006429863278754056, 0.7230868935585022, -0.2958342730998993, 0.3778515160083771, -1.4173723459243774, 0.1985580176115036, 1.3223849534988403, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7768749594688416, -0.6013962030410767, 0.11501488089561462, 1.578355073928833, 0.5449378490447998, -2.9657816886901855, -0.0006429863278754056, 0.0006429863278754056, 0.7162203192710876, -0.2813382148742676, 0.3271152675151825, -1.4173723459243774, 0.1340886503458023, 1.3551918268203735, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7742046117782593, -0.6258106231689453, 0.13179980218410492, 1.5779736042022705, 0.5453193187713623, -2.9642558097839355, -0.0006429863278754056, 0.0006429863278754056, 0.7074463963508606, -0.2748531401157379, 0.2939268946647644, -1.4173723459243774, 0.09174486994743347, 1.3818951845169067, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.769245445728302, -0.6467918157577515, 0.1489662081003189, 1.578355073928833, 0.5453193187713623, -2.959296464920044, -0.0006429863278754056, 0.0006429863278754056, 0.7009612917900085, -0.27218279242515564, 0.27065691351890564, -1.4173723459243774, 0.06847485899925232, 1.4002059698104858, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.76276034116745, -0.6662470698356628, 0.164988175034523, 1.5779736042022705, 0.5457007884979248, -2.9543373584747314, -0.0006429863278754056, 0.0006429863278754056, 0.6994354128837585, -0.27103838324546814, 0.25463491678237915, -1.4173723459243774, 0.05207141116261482, 1.4120317697525024, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -0.6860837936401367, 0.17948424816131592, 1.5779736042022705, 0.5453193187713623, -2.9505226612091064, -0.0006429863278754056, 0.0006429863278754056, 0.6971465349197388, -0.27103838324546814, 0.2447165697813034, -1.4173723459243774, 0.045204851776361465, 1.422713041305542, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7501716613769531, -0.7070649266242981, 0.19398032128810883, 1.577592134475708, 0.5457007884979248, -2.947089433670044, -0.0006429863278754056, 0.0006429863278754056, 0.6967650651931763, -0.27141985297203064, 0.23823148012161255, -1.4173723459243774, 0.03643091395497322, 1.4311054944992065, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7433050870895386, -0.7257572412490845, 0.20695048570632935, 1.577592134475708, 0.5460822582244873, -2.9436559677124023, -0.0006429863278754056, 0.0006429863278754056, 0.6960021257400513, -0.2744716703891754, 0.2313649207353592, -1.4173723459243774, 0.024605173617601395, 1.437972068786621, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7337682247161865, -0.7406347990036011, 0.21725031733512878, 1.5779736042022705, 0.5460822582244873, -2.942511558532715, -0.0006429863278754056, 0.0006429863278754056, 0.6960021257400513, -0.2748531401157379, 0.22411687672138214, -1.4173723459243774, 0.009346150793135166, 1.4421683549880981, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7234683632850647, -0.7520790696144104, 0.22755016386508942, 1.578355073928833, 0.5457007884979248, -2.937933921813965, -0.0006429863278754056, 0.0006429863278754056, 0.6960021257400513, -0.2786678969860077, 0.21763180196285248, -1.4173723459243774, -0.0009536888683214784, 1.4497978687286377, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7169833183288574, -0.7654306888580322, 0.24052032828330994, 1.578355073928833, 0.5460822582244873, -2.9287784099578857, -0.0006429863278754056, 0.0006429863278754056, 0.6960021257400513, -0.2817196846008301, 0.2138170450925827, -1.4173723459243774, -0.01125352829694748, 1.4562828540802002, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7124055624008179, -0.7829785346984863, 0.25387197732925415, 1.578355073928833, 0.5460822582244873, -2.9234378337860107, -0.0006429863278754056, 0.0006429863278754056, 0.6963835954666138, -0.28515297174453735, 0.20847637951374054, -1.4173723459243774, -0.015449759550392628, 1.4600976705551147, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7093538045883179, -0.7993820309638977, 0.2641718089580536, 1.5779736042022705, 0.5460822582244873, -2.9196231365203857, -0.0006429863278754056, 0.0006429863278754056, 0.6960021257400513, -0.28744181990623474, 0.2004653960466385, -1.4173723459243774, -0.028038453310728073, 1.4635308980941772, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7043945789337158, -0.8150225281715393, 0.2733272314071655, 1.5772106647491455, 0.5468451976776123, -2.9169528484344482, -0.0006429863278754056, 0.0006429863278754056, 0.6963835954666138, -0.2912565767765045, 0.18902114033699036, -1.4173723459243774, -0.04444190114736557, 1.4707789421081543, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.698291003704071, -0.8268482685089111, 0.2813382148742676, 1.577592134475708, 0.5472266674041748, -2.9135193824768066, -0.0006429863278754056, 0.0006429863278754056, 0.6960021257400513, -0.2946898639202118, 0.1802472025156021, -1.4173723459243774, -0.06084534898400307, 1.4784084558486938, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.693331778049469, -0.8367666006088257, 0.28934919834136963, 1.5779736042022705, 0.5468451976776123, -2.912374973297119, -0.0006429863278754056, 0.0006429863278754056, 0.6963835954666138, -0.29926756024360657, 0.17376211285591125, -1.41775381565094, -0.06885633617639542, 1.4822232723236084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6872282028198242, -0.8470664620399475, 0.29926756024360657, 1.578355073928833, 0.5468451976776123, -2.9089417457580566, -0.0006429863278754056, 0.0006429863278754056, 0.6960021257400513, -0.30079346895217896, 0.16918440163135529, -1.4173723459243774, -0.08297093212604523, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6803616285324097, -0.8573662638664246, 0.3091859221458435, 1.578355073928833, 0.5464637279510498, -2.905508518218994, -0.0006429863278754056, 0.0006429863278754056, 0.6960021257400513, -0.30460822582244873, 0.1646067053079605, -1.41775381565094, -0.08983749151229858, 1.4860379695892334, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6731135845184326, -0.8642328381538391, 0.31681543588638306, 1.5787365436553955, 0.5460822582244873, -2.9020752906799316, -0.0006429863278754056, 0.0006429863278754056, 0.6963835954666138, -0.30537116527557373, 0.16117341816425323, -1.41775381565094, -0.10166323184967041, 1.486419439315796, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6654840707778931, -0.8699550032615662, 0.3240634799003601, 1.5787365436553955, 0.5460822582244873, -2.897878885269165, -0.0006429863278754056, 0.0006429863278754056, 0.6960021257400513, -0.3065156042575836, 0.15812161564826965, -1.41775381565094, -0.10624094307422638, 1.4860379695892334, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6609063744544983, -0.8775845170021057, 0.33054855465888977, 1.5787365436553955, 0.5460822582244873, -2.8906309604644775, -0.0006429863278754056, 0.0006429863278754056, 0.6960021257400513, -0.3076600432395935, 0.15545128285884857, -1.41775381565094, -0.11081864684820175, 1.4860379695892334, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6586175560951233, -0.8875028491020203, 0.3377965986728668, 1.5787365436553955, 0.5457007884979248, -2.8868162631988525, -0.0006429863278754056, 0.0006429863278754056, 0.6952391862869263, -0.3103303611278534, 0.152399480342865, -1.41775381565094, -0.1180666834115982, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.8974212408065796, 0.34504464268684387, 1.579118013381958, 0.5464637279510498, -2.88338303565979, -0.0006429863278754056, 0.0006429863278754056, 0.6948577165603638, -0.3114747703075409, 0.1508735716342926, -1.41775381565094, -0.12302586436271667, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.655947208404541, -0.9065766334533691, 0.35191118717193604, 1.578355073928833, 0.5464637279510498, -2.8822383880615234, -0.0006429863278754056, 0.0006429863278754056, 0.6937133073806763, -0.3114747703075409, 0.1489662081003189, -1.41775381565094, -0.12455176562070847, 1.481841802597046, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.655184268951416, -0.9130617380142212, 0.3564889132976532, 1.578355073928833, 0.5464637279510498, -2.8761348724365234, -0.0006429863278754056, 0.0006429863278754056, 0.6929503083229065, -0.3118562698364258, 0.14705882966518402, -1.418135404586792, -0.12607766687870026, 1.481841802597046, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6548027992248535, -0.9187838435173035, 0.361829549074173, 1.5779736042022705, 0.5464637279510498, -2.8738460540771484, -0.0006429863278754056, 0.0006429863278754056, 0.6906614899635315, -0.3118562698364258, 0.14515145123004913, -1.41775381565094, -0.13218127191066742, 1.481841802597046, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6540398001670837, -0.9218356609344482, 0.36564430594444275, 1.5779736042022705, 0.5464637279510498, -2.871175765991211, -0.0006429863278754056, 0.0006429863278754056, 0.6898985505104065, -0.3130006790161133, 0.14362554252147675, -1.41775381565094, -0.1329442262649536, 1.481841802597046, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6540398001670837, -0.9233615398406982, 0.36755168437957764, 1.577592134475708, 0.5464637279510498, -2.868124008178711, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14286258816719055, -1.41775381565094, -0.13904783129692078, 1.481841802597046, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6525139212608337, -0.9245060086250305, 0.368314653635025, 1.5779736042022705, 0.5464637279510498, -2.868124008178711, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14286258816719055, -1.41775381565094, -0.13904783129692078, 1.481841802597046, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6513695120811462, -0.924887478351593, 0.36907759308815, 1.5779736042022705, 0.5464637279510498, -2.8677425384521484, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14248111844062805, -1.41775381565094, -0.13942931592464447, 1.4822232723236084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.650225043296814, -0.924887478351593, 0.369840532541275, 1.578355073928833, 0.5460822582244873, -2.867361068725586, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14209964871406555, -1.41775381565094, -0.13981078565120697, 1.482604742050171, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.648699164390564, -0.924887478351593, 0.3706035017967224, 1.5787365436553955, 0.5460822582244873, -2.8646905422210693, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14209964871406555, -1.41775381565094, -0.14095520973205566, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.647936224937439, -0.924887478351593, 0.3728923499584198, 1.578355073928833, 0.5457007884979248, -2.864309072494507, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14209964871406555, -1.41775381565094, -0.14324407279491425, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6475547552108765, -0.924887478351593, 0.3747997283935547, 1.5787365436553955, 0.5449378490447998, -2.864309072494507, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14209964871406555, -1.41775381565094, -0.14362554252147675, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6475547552108765, -0.924887478351593, 0.3759441375732422, 1.578355073928833, 0.54417484998703, -2.8639276027679443, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14171816408634186, -1.41775381565094, -0.14362554252147675, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.647173285484314, -0.924887478351593, 0.3767071068286896, 1.578355073928833, 0.5437933802604675, -2.8639276027679443, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14133669435977936, -1.41775381565094, -0.14362554252147675, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.647173285484314, -0.924887478351593, 0.3770885765552521, 1.578355073928833, 0.5437933802604675, -2.863546133041382, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14133669435977936, -1.41775381565094, -0.14362554252147675, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.647173285484314, -0.9252689480781555, 0.3770885765552521, 1.578355073928833, 0.54417484998703, -2.863546133041382, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14133669435977936, -1.41775381565094, -0.14362554252147675, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.647173285484314, -0.9252689480781555, 0.3770885765552521, 1.578355073928833, 0.54417484998703, -2.8631646633148193, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14095520973205566, -1.41775381565094, -0.14362554252147675, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6467918157577515, -0.9260318875312805, 0.3770885765552521, 1.578355073928833, 0.5460822582244873, -2.8631646633148193, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14095520973205566, -1.41775381565094, -0.14515145123004913, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6464102864265442, -0.9267948269844055, 0.3770885765552521, 1.5787365436553955, 0.5464637279510498, -2.8631646633148193, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.3133821487426758, 0.14019227027893066, -1.41775381565094, -0.14705882966518402, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6445029377937317, -0.927176296710968, 0.3774700462818146, 1.5787365436553955, 0.5464637279510498, -2.8616387844085693, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31376364827156067, 0.13904783129692078, -1.41775381565094, -0.14782176911830902, 1.4860379695892334, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6433585286140442, -0.927176296710968, 0.3774700462818146, 1.5787365436553955, 0.5464637279510498, -2.8608758449554443, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31376364827156067, 0.13866636157035828, -1.41775381565094, -0.1489662081003189, 1.486419439315796, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6429770588874817, -0.927176296710968, 0.3774700462818146, 1.5787365436553955, 0.5464637279510498, -2.861257314682007, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31376364827156067, 0.13866636157035828, -1.41775381565094, -0.1516365259885788, 1.486419439315796, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6425955891609192, -0.927176296710968, 0.3774700462818146, 1.579118013381958, 0.5464637279510498, -2.861257314682007, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31376364827156067, 0.13828489184379578, -1.41775381565094, -0.15430685877799988, 1.4868009090423584, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -0.927176296710968, 0.3774700462818146, 1.579118013381958, 0.5464637279510498, -2.861257314682007, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31414511799812317, 0.13828489184379578, -1.41775381565094, -0.15430685877799988, 1.487182378768921, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6410696506500244, -0.927176296710968, 0.3774700462818146, 1.579118013381958, 0.5464637279510498, -2.861257314682007, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31452658772468567, 0.13790340721607208, -1.41775381565094, -0.15468832850456238, 1.4887083768844604, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6406881809234619, -0.927176296710968, 0.3774700462818146, 1.5787365436553955, 0.5464637279510498, -2.861257314682007, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31490805745124817, 0.13790340721607208, -1.41775381565094, -0.15506981313228607, 1.4887083768844604, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6406881809234619, -0.927176296710968, 0.3774700462818146, 1.5787365436553955, 0.5464637279510498, -2.861257314682007, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31490805745124817, 0.13790340721607208, -1.41775381565094, -0.15545128285884857, 1.4887083768844604, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6406881809234619, -0.927176296710968, 0.3774700462818146, 1.5787365436553955, 0.5464637279510498, -2.861257314682007, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31490805745124817, 0.13790340721607208, -1.418135404586792, -0.15774014592170715, 1.488326907157898, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6399252414703369, -0.927176296710968, 0.3778515160083771, 1.5787365436553955, 0.5464637279510498, -2.860494375228882, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31490805745124817, 0.13790340721607208, -1.41775381565094, -0.15888457000255585, 1.488326907157898, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6387808322906494, -0.927176296710968, 0.37861448526382446, 1.5787365436553955, 0.5460822582244873, -2.8585870265960693, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31490805745124817, 0.13790340721607208, -1.41775381565094, -0.16155488789081573, 1.487945318222046, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6372548937797546, -0.927176296710968, 0.37975889444351196, 1.5787365436553955, 0.5460822582244873, -2.8570611476898193, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31490805745124817, 0.13790340721607208, -1.41775381565094, -0.16155488789081573, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6357290148735046, -0.927176296710968, 0.38014039397239685, 1.5787365436553955, 0.5460822582244873, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31490805745124817, 0.13752193748950958, -1.41775381565094, -0.16155488789081573, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6338216066360474, -0.927176296710968, 0.38090333342552185, 1.5787365436553955, 0.5460822582244873, -2.8562982082366943, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31567102670669556, 0.1371404528617859, -1.41775381565094, -0.16269932687282562, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6322957277297974, -0.927176296710968, 0.38090333342552185, 1.579118013381958, 0.5460822582244873, -2.855916738510132, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31567102670669556, 0.1371404528617859, -1.41775381565094, -0.1661325991153717, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6315327882766724, -0.927176296710968, 0.38128480315208435, 1.579118013381958, 0.5460822582244873, -2.8555352687835693, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31567102670669556, 0.1363775134086609, -1.41775381565094, -0.1661325991153717, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6307697892189026, -0.927176296710968, 0.38166627287864685, 1.579118013381958, 0.5460822582244873, -2.855153799057007, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1359960287809372, -1.41775381565094, -0.1680399775505066, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6303883194923401, -0.9287022352218628, 0.38166627287864685, 1.579118013381958, 0.5460822582244873, -2.8540093898773193, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1356145590543747, -1.41775381565094, -0.1684214472770691, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6303883194923401, -0.9294651746749878, 0.38242924213409424, 1.579118013381958, 0.5460822582244873, -2.8540093898773193, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1348516047000885, -1.41775381565094, -0.1684214472770691, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6303883194923401, -0.9302281141281128, 0.38281071186065674, 1.579118013381958, 0.5460822582244873, -2.854390859603882, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.134470134973526, -1.41775381565094, -0.1684214472770691, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6303883194923401, -0.9302281141281128, 0.38281071186065674, 1.579118013381958, 0.5460822582244873, -2.8547723293304443, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.134470134973526, -1.41775381565094, -0.1684214472770691, 1.4860379695892334, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6303883194923401, -0.9302281141281128, 0.38281071186065674, 1.579118013381958, 0.5460822582244873, -2.8555352687835693, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1340886503458023, -1.41775381565094, -0.1684214472770691, 1.4860379695892334, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6338216066360474, -0.9302281141281128, 0.38281071186065674, 1.5779736042022705, 0.5460822582244873, -2.8555352687835693, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1340886503458023, -1.41775381565094, -0.1684214472770691, 1.486419439315796, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6406881809234619, -0.9306095838546753, 0.38281071186065674, 1.575303316116333, 0.5460822582244873, -2.855916738510132, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1340886503458023, -1.41775381565094, -0.1684214472770691, 1.489089846611023, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.650225043296814, -0.9298466444015503, 0.38166627287864685, 1.575303316116333, 0.5457007884979248, -2.8562982082366943, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1337071806192398, -1.41775381565094, -0.1684214472770691, 1.489089846611023, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.9283207654953003, 0.37861448526382446, 1.5749218463897705, 0.5460822582244873, -2.8562982082366943, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1333257108926773, -1.418135404586792, -0.1684214472770691, 1.489089846611023, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6605249047279358, -0.927176296710968, 0.3763256371021271, 1.5749218463897705, 0.5460822582244873, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1333257108926773, -1.418135404586792, -0.16880293190479279, 1.489089846611023, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6589990258216858, -0.927176296710968, 0.3751811981201172, 1.5756847858428955, 0.5460822582244873, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1333257108926773, -1.418135404586792, -0.16880293190479279, 1.4887083768844604, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6548027992248535, -0.9267948269844055, 0.3747997283935547, 1.577592134475708, 0.5464637279510498, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1329442262649536, -1.418135404586792, -0.16880293190479279, 1.4887083768844604, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.649462103843689, -0.9267948269844055, 0.3747997283935547, 1.5794994831085205, 0.5468451976776123, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1325627565383911, -1.418135404586792, -0.16880293190479279, 1.488326907157898, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6429770588874817, -0.9267948269844055, 0.3747997283935547, 1.5802624225616455, 0.5468451976776123, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1325627565383911, -1.41775381565094, -0.16918440163135529, 1.4868009090423584, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6364919543266296, -0.9267948269844055, 0.3759441375732422, 1.579880952835083, 0.5468451976776123, -2.8570611476898193, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1325627565383911, -1.418135404586792, -0.16918440163135529, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6334401369094849, -0.9267948269844055, 0.37861448526382446, 1.5802624225616455, 0.5464637279510498, -2.8570611476898193, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1325627565383911, -1.418135404586792, -0.16918440163135529, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6292439103126526, -0.9267948269844055, 0.38052186369895935, 1.583314299583435, 0.5457007884979248, -2.8570611476898193, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1325627565383911, -1.418135404586792, -0.16994735598564148, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6250476837158203, -0.927176296710968, 0.38204777240753174, 1.5836957693099976, 0.5453193187713623, -2.8570611476898193, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31605249643325806, 0.1325627565383911, -1.418135404586792, -0.17299915850162506, 1.484893560409546, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6219958662986755, -0.9290837049484253, 0.38357365131378174, 1.583314299583435, 0.5457007884979248, -2.8570611476898193, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31643396615982056, 0.13218127191066742, -1.418135404586792, -0.17376211285591125, 1.484893560409546, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.620088517665863, -0.9313725233078003, 0.3850995600223541, 1.58255136013031, 0.5460822582244873, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31643396615982056, 0.13179980218410492, -1.418135404586792, -0.17452506721019745, 1.484893560409546, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6189440488815308, -0.9348058104515076, 0.3873884081840515, 1.580643892288208, 0.5468451976776123, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31643396615982056, 0.13179980218410492, -1.418135404586792, -0.17490653693675995, 1.484893560409546, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6181811094284058, -0.9378576278686523, 0.3900587558746338, 1.5794994831085205, 0.5472266674041748, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31643396615982056, 0.13141833245754242, -1.41775381565094, -0.17528800666332245, 1.484893560409546, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6177996397018433, -0.9401465058326721, 0.3912031650543213, 1.579118013381958, 0.5472266674041748, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31643396615982056, 0.13103684782981873, -1.41775381565094, -0.17528800666332245, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6174181699752808, -0.9416723847389221, 0.3915846347808838, 1.579118013381958, 0.5472266674041748, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31643396615982056, 0.13065537810325623, -1.41775381565094, -0.17528800666332245, 1.484893560409546, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6166552305221558, -0.9424353241920471, 0.3919661343097687, 1.579118013381958, 0.5476081371307373, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31719690561294556, 0.13065537810325623, -1.41775381565094, -0.17528800666332245, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6147478222846985, -0.9435797929763794, 0.3919661343097687, 1.579118013381958, 0.5483710765838623, -2.8562982082366943, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31757840514183044, 0.13065537810325623, -1.41775381565094, -0.17566949129104614, 1.484893560409546, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6116960644721985, -0.9439612627029419, 0.3923476040363312, 1.5794994831085205, 0.5487525463104248, -2.8562982082366943, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31757840514183044, 0.13027389347553253, -1.41775381565094, -0.17566949129104614, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6097886562347412, -0.9447242021560669, 0.3923476040363312, 1.5794994831085205, 0.5487525463104248, -2.8562982082366943, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31757840514183044, 0.13027389347553253, -1.41775381565094, -0.17566949129104614, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6082627773284912, -0.9462500810623169, 0.3934920132160187, 1.5794994831085205, 0.5487525463104248, -2.8562982082366943, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31757840514183044, 0.12989242374897003, -1.41775381565094, -0.17566949129104614, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6067368388175964, -0.9489204287528992, 0.39463645219802856, 1.5787365436553955, 0.5483710765838623, -2.8562982082366943, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31757840514183044, 0.12989242374897003, -1.41775381565094, -0.17566949129104614, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6055924296379089, -0.951209306716919, 0.39616236090660095, 1.579118013381958, 0.5483710765838623, -2.855916738510132, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31757840514183044, 0.12951095402240753, -1.41775381565094, -0.17566949129104614, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6052109599113464, -0.952735185623169, 0.39730677008628845, 1.5787365436553955, 0.5483710765838623, -2.855916738510132, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31757840514183044, 0.12951095402240753, -1.41775381565094, -0.17566949129104614, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6052109599113464, -0.953498125076294, 0.39730677008628845, 1.5787365436553955, 0.5483710765838623, -2.855916738510132, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31757840514183044, 0.12912946939468384, -1.41775381565094, -0.17566949129104614, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6055924296379089, -0.953498125076294, 0.39730677008628845, 1.578355073928833, 0.5483710765838623, -2.855916738510132, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31757840514183044, 0.12912946939468384, -1.41775381565094, -0.17566949129104614, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6101701259613037, -0.9515907764434814, 0.39730677008628845, 1.576066255569458, 0.5464637279510498, -2.856679677963257, -0.0006429863278754056, 0.0006429863278754056, 0.6891355514526367, -0.31757840514183044, 0.12912946939468384, -1.41775381565094, -0.17566949129104614, 1.4852750301361084, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6185625791549683, -0.9435797929763794, 0.3927290737628937, 1.575303316116333, 0.54264897108078, -2.858205556869507, -0.002722651930525899, 0.002722651930525899, 0.6891355514526367, -0.31757840514183044, 0.12912946939468384, -1.41775381565094, -0.17566949129104614, 1.485656499862671, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6273365616798401, -0.924124538898468, 0.38281071186065674, 1.5749218463897705, 0.54264897108078, -2.8654534816741943, -0.008889245800673962, 0.008889245800673962, 0.6891355514526367, -0.31757840514183044, 0.12912946939468384, -1.41775381565094, -0.17566949129104614, 1.4868009090423584, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6380178332328796, -0.89131760597229, 0.36335545778274536, 1.571107029914856, 0.543411910533905, -2.871938705444336, -0.015486731193959713, 0.015486731193959713, 0.6891355514526367, -0.31757840514183044, 0.12912946939468384, -1.41775381565094, -0.17566949129104614, 1.4894713163375854, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6555657386779785, -0.846684992313385, 0.33588922023773193, 1.5722514390945435, 0.5449378490447998, -2.878805160522461, -0.01865249313414097, 0.01865249313414097, 0.6891355514526367, -0.31719690561294556, 0.12912946939468384, -1.41775381565094, -0.17605096101760864, 1.490615725517273, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6849393248558044, -0.7902265787124634, 0.2977416515350342, 1.573395848274231, 0.5464637279510498, -2.891775369644165, -0.019075307995080948, 0.019075307995080948, 0.6891355514526367, -0.31605249643325806, 0.13103684782981873, -1.41775381565094, -0.17719538509845734, 1.493667483329773, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.734149694442749, -0.7219424843788147, 0.2439536154270172, 1.576066255569458, 0.5464637279510498, -2.902456760406494, -0.010817945003509521, 0.010817945003509521, 0.6891355514526367, -0.3133821487426758, 0.1356145590543747, -1.41775381565094, -0.17643244564533234, 1.4932860136032104, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7932783961296082, -0.6445029377937317, 0.17872129380702972, 1.5779736042022705, 0.5457007884979248, -2.902456760406494, -0.0, 0.0, 0.6891355514526367, -0.30117493867874146, 0.14286258816719055, -1.41775381565094, -0.15964750945568085, 1.4917601346969604, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8577477931976318, -0.576218843460083, 0.1184481605887413, 1.5779736042022705, 0.5457007884979248, -2.862020254135132, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.6906614899635315, -0.2637903392314911, 0.14553292095661163, -1.418135404586792, -0.14209964871406555, 1.4799343347549438, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9210727214813232, -0.5258640646934509, 0.07419699430465698, 1.578355073928833, 0.5453193187713623, -2.7697031497955322, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7082093358039856, -0.200083926320076, 0.14095520973205566, -1.41775381565094, -0.11310750246047974, 1.4627679586410522, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9767681360244751, -0.49229419231414795, 0.054741740226745605, 1.5787365436553955, 0.54417484998703, -2.633516550064087, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7314793467521667, -0.12378881871700287, 0.12264438718557358, -1.418135404586792, -0.09365224838256836, 1.4589532613754272, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0152971744537354, -0.4728389382362366, 0.06351567804813385, 1.5787365436553955, 0.5186160206794739, -2.4813077449798584, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7585641145706177, -0.05855649709701538, 0.09327077120542526, -1.418135404586792, -0.09975585341453552, 1.4719233512878418, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.032463550567627, -0.46139466762542725, 0.11959258466959, 1.5787365436553955, 0.3763256371021271, -2.3023955821990967, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7799267768859863, -0.022697795182466507, 0.06160829961299896, -1.41775381565094, -0.10624094307422638, 1.4909971952438354, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.039711594581604, -0.44728007912635803, 0.17986571788787842, 1.5787365436553955, 0.2149614691734314, -2.1124207973480225, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7925154566764832, -0.000572213320992887, 0.032616160809993744, -1.418135404586792, -0.11196307092905045, 1.505874752998352, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.029411792755127, -0.4243915379047394, 0.21877622604370117, 1.5787365436553955, 0.11120012402534485, -1.945334553718567, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7990005612373352, 0.013160906732082367, 0.01201647985726595, -1.418135404586792, -0.11158160120248795, 1.512359857559204, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0069047212600708, -0.404936283826828, 0.23823148012161255, 1.578355073928833, 0.046730753034353256, -1.8400473594665527, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8020523190498352, 0.01888304017484188, -0.005149920005351305, -1.41775381565094, -0.09403372555971146, 1.512359857559204, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9954604506492615, -0.3931105434894562, 0.2447165697813034, 1.578355073928833, 0.009346150793135166, -1.7629892826080322, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.80357825756073, 0.023460745811462402, -0.019645990803837776, -1.418135404586792, -0.09441519528627396, 1.512359857559204, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9756237268447876, -0.3770885765552521, 0.24242770671844482, 1.5787365436553955, -0.010872052982449532, -1.7084382772445679, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8085374236106873, 0.02079041674733162, -0.03452353551983833, -1.418135404586792, -0.09975585341453552, 1.5115967988967896, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9451056718826294, -0.34618905186653137, 0.2290760725736618, 1.5787365436553955, -0.02040894143283367, -1.6721980571746826, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8283741474151611, 0.014686808921396732, -0.043678950518369675, -1.41775381565094, -0.11005569249391556, 1.4955748319625854, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9096284508705139, -0.30155640840530396, 0.20428015291690826, 1.5787365436553955, -0.008201723918318748, -1.646257758140564, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8463035225868225, 0.0024795911740511656, -0.04406042397022247, -1.418135404586792, -0.11692225188016891, 1.4757381677627563, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, -0.25234606862068176, 0.17147326469421387, 1.5787365436553955, 0.009727626107633114, -1.6386282444000244, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8546959757804871, -0.023079270496964455, -0.03490501269698143, -1.418135404586792, -0.11310750246047974, 1.4650568962097168, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8337147831916809, -0.1962691694498062, 0.134470134973526, 1.5787365436553955, 0.02231631986796856, -1.6401541233062744, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8588922023773193, -0.048256658017635345, -0.024986648932099342, -1.418135404586792, -0.10662241280078888, 1.4585717916488647, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8104447722434998, -0.13218127191066742, 0.09784847497940063, 1.5787365436553955, 0.02841992862522602, -1.650072455406189, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8619440197944641, -0.06198977679014206, -0.01926451548933983, -1.418135404586792, -0.10471503436565399, 1.4547569751739502, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7993820309638977, -0.08258945494890213, 0.0707637146115303, 1.578355073928833, 0.034142062067985535, -1.656557559967041, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8627069592475891, -0.06771191209554672, -0.016975661739706993, -1.418135404586792, -0.10509651154279709, 1.4513237476348877, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7959487438201904, -0.057793546468019485, 0.0555046908557415, 1.578355073928833, 0.03490501269698143, -1.660753846168518, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8638513684272766, -0.0711451917886734, -0.016594186425209045, -1.418135404586792, -0.1039520874619484, 1.4490348100662231, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8009079098701477, -0.048256658017635345, 0.04749370738863945, 1.578355073928833, 0.038719769567251205, -1.6657129526138306, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8638513684272766, -0.07267109304666519, -0.01583123579621315, -1.418135404586792, -0.1035706102848053, 1.4478904008865356, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8119707107543945, -0.04596780240535736, 0.0398641936480999, 1.5779736042022705, 0.0551232174038887, -1.6714351177215576, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8638513684272766, -0.07343403995037079, -0.01583123579621315, -1.418135404586792, -0.1031891331076622, 1.4475089311599731, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8169298768043518, -0.045204851776361465, 0.034142062067985535, 1.578355073928833, 0.06961929053068161, -1.6721980571746826, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8638513684272766, -0.07343403995037079, -0.01583123579621315, -1.418135404586792, -0.1035706102848053, 1.4475089311599731, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, -0.045204851776361465, 0.031090257689356804, 1.5787365436553955, 0.08068207651376724, -1.6786831617355347, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8634698987007141, -0.07343403995037079, -0.01583123579621315, -1.418135404586792, -0.1039520874619484, 1.4475089311599731, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8089188933372498, -0.045204851776361465, 0.029564354568719864, 1.578355073928833, 0.08411535620689392, -1.6901273727416992, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8638513684272766, -0.07343403995037079, -0.01583123579621315, -1.418135404586792, -0.10433356463909149, 1.4475089311599731, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7990005612373352, -0.045204851776361465, 0.02841992862522602, 1.578355073928833, 0.0875486359000206, -1.6992828845977783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8638513684272766, -0.07343403995037079, -0.01583123579621315, -1.418135404586792, -0.1039520874619484, 1.4478904008865356, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7959487438201904, -0.04406042397022247, 0.028038453310728073, 1.578355073928833, 0.09021896868944168, -1.7053864002227783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8691920638084412, -0.07343403995037079, -0.01583123579621315, -1.418135404586792, -0.1039520874619484, 1.441023826599121, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7932783961296082, -0.0394827201962471, 0.026131074875593185, 1.578355073928833, 0.09021896868944168, -1.7057678699493408, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.882543683052063, -0.06618601083755493, -0.01735713705420494, -1.418135404586792, -0.10128175467252731, 1.428435206413269, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7921339869499207, -0.034142062067985535, 0.02536812424659729, 1.578355073928833, 0.08983749151229858, -1.7057678699493408, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8882657885551453, -0.06237125024199486, -0.01926451548933983, -1.41775381565094, -0.10128175467252731, 1.4238574504852295, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7913710474967957, -0.03376058489084244, 0.02536812424659729, 1.578355073928833, 0.08335240930318832, -1.7053864002227783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8909361362457275, -0.05893797054886818, -0.02079041674733162, -1.418135404586792, -0.10204470902681351, 1.421187162399292, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7913710474967957, -0.030708782374858856, 0.026512550190091133, 1.578355073928833, 0.07534141838550568, -1.7053864002227783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05893797054886818, -0.02079041674733162, -1.418135404586792, -0.1024261862039566, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7921339869499207, -0.030708782374858856, 0.020027466118335724, 1.578355073928833, 0.05664911866188049, -1.7053864002227783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.021171892061829567, -1.418135404586792, -0.1028076633810997, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7974746227264404, -0.03299763426184654, 0.012397955171763897, 1.578355073928833, 0.05741206929087639, -1.7046234607696533, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10624094307422638, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80510413646698, -0.04406042397022247, 0.004386968910694122, 1.5779736042022705, 0.06046387553215027, -1.6943236589431763, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.058175019919872284, -0.02193484455347061, -1.418135404586792, -0.10662241280078888, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.813878059387207, -0.050164032727479935, 0.0009536888683214784, 1.5779736042022705, 0.071908138692379, -1.6821163892745972, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.058175019919872284, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.4208056926727295, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8192187547683716, -0.053215838968753815, -0.001716639962978661, 1.578355073928833, 0.07419699430465698, -1.6744868755340576, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.058175019919872284, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.41775381565094, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8222705721855164, -0.053215838968753815, -0.004005493130534887, 1.578355073928833, 0.07572289556264877, -1.6710536479949951, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.4173723459243774, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8222705721855164, -0.053215838968753815, -0.00476844422519207, 1.578355073928833, 0.07648584991693497, -1.6706721782684326, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.058175019919872284, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.416990876197815, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8218890428543091, -0.053215838968753815, -0.005149920005351305, 1.578355073928833, 0.07877469807863235, -1.6706721782684326, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.416990876197815, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8203631639480591, -0.05359731614589691, -0.005149920005351305, 1.578355073928833, 0.07877469807863235, -1.6710536479949951, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4166094064712524, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8188372850418091, -0.053215838968753815, -0.005149920005351305, 1.578355073928833, 0.07877469807863235, -1.6710536479949951, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.058175019919872284, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.4166094064712524, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, -0.053215838968753815, -0.005149920005351305, 1.578355073928833, 0.07877469807863235, -1.6710536479949951, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.058175019919872284, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.4166094064712524, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8211261034011841, -0.053215838968753815, -0.005149920005351305, 1.578355073928833, 0.07877469807863235, -1.6710536479949951, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10738536715507507, 1.416990876197815, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8211261034011841, -0.053215838968753815, -0.005149920005351305, 1.578355073928833, 0.07877469807863235, -1.6710536479949951, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10738536715507507, 1.4173723459243774, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8211261034011841, -0.053215838968753815, -0.005149920005351305, 1.578355073928833, 0.07877469807863235, -1.6710536479949951, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10738536715507507, 1.4173723459243774, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8211261034011841, -0.053215838968753815, -0.005149920005351305, 1.578355073928833, 0.07877469807863235, -1.6710536479949951, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10738536715507507, 1.41775381565094, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8211261034011841, -0.053215838968753815, -0.005149920005351305, 1.578355073928833, 0.07877469807863235, -1.6699092388153076, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10738536715507507, 1.4185168743133545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, -0.053215838968753815, -0.005531395319849253, 1.578355073928833, 0.07877469807863235, -1.666857361793518, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10738536715507507, 1.419661283493042, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8299000263214111, -0.05207141116261482, -0.007057297509163618, 1.5691996812820435, 0.07877469807863235, -1.647783637046814, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.837911069393158, -0.049782559275627136, -0.007438773289322853, 1.506637692451477, 0.07877469807863235, -1.5852216482162476, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.838674008846283, -0.049782559275627136, -0.0078202486038208, 1.5028228759765625, 0.07877469807863235, -1.58407723903656, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840199887752533, -0.049782559275627136, -0.0078202486038208, 1.519226312637329, 0.07915617525577545, -1.5962843894958496, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.058175019919872284, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8398184180259705, -0.049782559275627136, -0.0078202486038208, 1.5268558263778687, 0.07953765243291855, -1.6046768426895142, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8390554785728455, -0.049782559275627136, -0.0078202486038208, 1.5344853401184082, 0.07991912961006165, -1.6107804775238037, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8375295400619507, -0.049782559275627136, -0.0078202486038208, 1.5367742776870728, 0.08030059933662415, -1.6126878261566162, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8371480703353882, -0.049782559275627136, -0.0078202486038208, 1.5379186868667603, 0.08068207651376724, -1.6157397031784058, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8356221914291382, -0.049782559275627136, -0.0078202486038208, 1.5383001565933228, 0.08030059933662415, -1.6191729307174683, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8352407217025757, -0.049782559275627136, -0.0078202486038208, 1.5383001565933228, 0.08030059933662415, -1.6191729307174683, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8337147831916809, -0.049782559275627136, -0.0078202486038208, 1.5390630960464478, 0.08030059933662415, -1.6199358701705933, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8337147831916809, -0.049782559275627136, -0.0078202486038208, 1.5409704446792603, 0.08030059933662415, -1.6229877471923828, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8321889042854309, -0.049782559275627136, -0.0078202486038208, 1.5409704446792603, 0.08030059933662415, -1.6241321563720703, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8314259648323059, -0.049782559275627136, -0.0078202486038208, 1.5405889749526978, 0.07991912961006165, -1.6268024444580078, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10814831405878067, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8314259648323059, -0.049782559275627136, -0.0078202486038208, 1.5405889749526978, 0.07991912961006165, -1.6268024444580078, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10814831405878067, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8314259648323059, -0.049782559275627136, -0.0078202486038208, 1.5405889749526978, 0.07991912961006165, -1.6268024444580078, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8310444951057434, -0.049782559275627136, -0.0078202486038208, 1.5405889749526978, 0.07991912961006165, -1.6271839141845703, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10814831405878067, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8295185565948486, -0.049782559275627136, -0.0078202486038208, 1.5405889749526978, 0.07991912961006165, -1.6302357912063599, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10814831405878067, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8237964510917664, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07991912961006165, -1.6363393068313599, -4.539007932180539e-06, 4.539007932180539e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10814831405878067, 1.4223315715789795, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8112077713012695, -0.049782559275627136, -0.0078202486038208, 1.5398260354995728, 0.07953765243291855, -1.6496909856796265, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10814831405878067, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7993820309638977, -0.049782559275627136, -0.0078202486038208, 1.5390630960464478, 0.07953765243291855, -1.6691462993621826, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7928969264030457, -0.049782559275627136, -0.0078202486038208, 1.5390630960464478, 0.07953765243291855, -1.6771572828292847, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7898451089859009, -0.049782559275627136, -0.0078202486038208, 1.5390630960464478, 0.07953765243291855, -1.6882200241088867, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.049782559275627136, -0.0078202486038208, 1.5398260354995728, 0.07953765243291855, -1.6916533708572388, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6954680681228638, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6981383562088013, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6981383562088013, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6981383562088013, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6981383562088013, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6985198259353638, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.421950101852417, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6985198259353638, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.418135404586792, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6989012956619263, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02193484455347061, -1.41775381565094, -0.10776684433221817, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7856488823890686, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6989012956619263, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.02231631986796856, -1.41775381565094, -0.10814831405878067, 1.4215686321258545, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7856488823890686, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6989012956619263, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.892080545425415, -0.05855649709701538, -0.023079270496964455, -1.4333943128585815, -0.10852979123592377, 1.4295796155929565, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7856488823890686, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6992828845977783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8928435444831848, -0.05855649709701538, -0.023460745811462402, -1.487182378768921, -0.10852979123592377, 1.4845120906829834, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6992828845977783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8928435444831848, -0.05855649709701538, -0.023460745811462402, -1.4932860136032104, -0.10585946589708328, 1.492904543876648, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6992828845977783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8932250142097473, -0.05855649709701538, -0.023079270496964455, -1.492904543876648, -0.10471503436565399, 1.492904543876648, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6992828845977783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8932250142097473, -0.05855649709701538, -0.023079270496964455, -1.4925230741500854, -0.10433356463909149, 1.4925230741500854, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6992828845977783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8932250142097473, -0.05855649709701538, -0.023079270496964455, -1.492141604423523, -0.1039520874619484, 1.4894713163375854, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6992828845977783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8928435444831848, -0.05855649709701538, -0.023079270496964455, -1.4917601346969604, -0.1035706102848053, 1.489089846611023, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -0.049782559275627136, -0.0078202486038208, 1.5402075052261353, 0.07953765243291855, -1.6992828845977783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8928435444831848, -0.05855649709701538, -0.023079270496964455, -1.4887083768844604, -0.1028076633810997, 1.4887083768844604, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -0.049782559275627136, -0.0078202486038208, 1.5398260354995728, 0.07953765243291855, -1.6992828845977783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8928435444831848, -0.05855649709701538, -0.023079270496964455, -1.4887083768844604, -0.1028076633810997, 1.4887083768844604, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -0.049782559275627136, -0.0078202486038208, 1.5398260354995728, 0.07953765243291855, -1.6992828845977783, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8928435444831848, -0.05855649709701538, -0.023079270496964455, -1.4887083768844604, -0.1028076633810997, 1.488326907157898, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.049782559275627136, -0.0078202486038208, 1.5398260354995728, 0.07953765243291855, -1.6996643543243408, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8928435444831848, -0.05855649709701538, -0.023079270496964455, -1.4887083768844604, -0.1031891331076622, 1.4887083768844604, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.049782559275627136, -0.0078202486038208, 1.5398260354995728, 0.07953765243291855, -1.6996643543243408, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.8932250142097473, -0.05855649709701538, -0.022697795182466507, -1.4887083768844604, -0.1035706102848053, 1.4887083768844604, -3.095445572398603e-05, 3.095445572398603e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000035/meta.json b/rc-table30-v2__rc-dos-w1/000035/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d64a66504b6259ba9ebe6914b9881d2d0ff5c3ac
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000035/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Tie a knot with the string on the table.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 8768,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000035/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000035/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6588a29f68e788a84ae4858672f7d08f2de0b060
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000035/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000035/temporal.json b/rc-table30-v2__rc-dos-w1/000035/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..9cc22f752f7193cc61d2b7a2ab66ecb8f732567e
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000035/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8310444951057434, 0.04558632895350456, -0.04787518084049225, 1.5291447639465332, 0.15659570693969727, -1.5779736042022705, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07572289556264877, 0.0032425422687083483, -1.6489280462265015, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8295185565948486, 0.04558632895350456, -0.04787518084049225, 1.5257114171981812, 0.15659570693969727, -1.5779736042022705, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07572289556264877, 0.0032425422687083483, -1.6489280462265015, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8295185565948486, 0.04558632895350456, -0.04787518084049225, 1.5253299474716187, 0.15697719156742096, -1.5779736042022705, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07572289556264877, 0.0032425422687083483, -1.6489280462265015, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8295185565948486, 0.04558632895350456, -0.04787518084049225, 1.5253299474716187, 0.15659570693969727, -1.5779736042022705, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07572289556264877, 0.0032425422687083483, -1.6489280462265015, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, 0.04558632895350456, -0.04787518084049225, 1.5249484777450562, 0.15659570693969727, -1.5779736042022705, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07572289556264877, 0.0032425422687083483, -1.6489280462265015, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, 0.04558632895350456, -0.045204851776361465, 1.5241855382919312, 0.15545128285884857, -1.5779736042022705, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07572289556264877, 0.0032425422687083483, -1.6489280462265015, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8253223299980164, 0.04177157208323479, -0.02231631986796856, 1.5226596593856812, 0.14209964871406555, -1.5779736042022705, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07572289556264877, 0.0032425422687083483, -1.6489280462265015, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8077744841575623, 0.01735713705420494, 0.013542382046580315, 1.5226596593856812, 0.11425192654132843, -1.5779736042022705, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07572289556264877, 0.0032425422687083483, -1.6489280462265015, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7753490209579468, -0.03643091395497322, 0.06160829961299896, 1.5218967199325562, 0.10051880776882172, -1.5779736042022705, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07610437273979187, 0.0032425422687083483, -1.6489280462265015, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7375829815864563, -0.12722209095954895, 0.12607766687870026, 1.5207523107528687, 0.09250781685113907, -1.578355073928833, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07610437273979187, 0.0032425422687083483, -1.6489280462265015, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7063019871711731, -0.24090181291103363, 0.20542457699775696, 1.5180819034576416, 0.0879301130771637, -1.5787365436553955, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07610437273979187, 0.0032425422687083483, -1.648546576499939, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6834134459495544, -0.3580147922039032, 0.28896772861480713, 1.5180819034576416, 0.08373387902975082, -1.579118013381958, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07610437273979187, 0.0032425422687083483, -1.648546576499939, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6620507836341858, -0.46292057633399963, 0.38052186369895935, 1.5135042667388916, 0.054741740226745605, -1.5794994831085205, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07610437273979187, 0.0032425422687083483, -1.6489280462265015, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6334401369094849, -0.5617227554321289, 0.4812313914299011, 1.510452389717102, -0.042153049260377884, -1.5794994831085205, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07610437273979187, 0.0032425422687083483, -1.6489280462265015, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6002517938613892, -0.6475547552108765, 0.5621042251586914, 1.5085450410842896, -0.14667734503746033, -1.5794994831085205, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07610437273979187, 0.0032425422687083483, -1.6489280462265015, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5701152086257935, -0.7234683632850647, 0.6284809708595276, 1.497100830078125, -0.23212787508964539, -1.579880952835083, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07610437273979187, 0.0032425422687083483, -1.648546576499939, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5491340756416321, -0.8012893795967102, 0.6979095339775085, 1.4875638484954834, -0.31757840514183044, -1.579880952835083, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07686731964349747, 0.0032425422687083483, -1.648546576499939, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5376898050308228, -0.8916990756988525, 0.7822155952453613, 1.481841802597046, -0.4198138415813446, -1.579880952835083, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07686731964349747, 0.0032425422687083483, -1.648546576499939, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5273899435997009, -0.9882124066352844, 0.8764400482177734, 1.4799343347549438, -0.5350194573402405, -1.579880952835083, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.918402373790741, -0.07724879682064056, 0.0036240178160369396, -1.6458762884140015, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5193789601325989, -1.0885404348373413, 0.9775310754776001, 1.4768825769424438, -0.6597619652748108, -1.5802624225616455, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9180209040641785, -0.07763027399778366, 0.004005493130534887, -1.644350290298462, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5144197940826416, -1.1804760694503784, 1.0683223009109497, 1.4765011072158813, -0.7703898549079895, -1.5802624225616455, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9172579646110535, -0.07801175117492676, 0.004005493130534887, -1.642061471939087, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5197604298591614, -1.264019250869751, 1.1495765447616577, 1.5054932832717896, -0.8573662638664246, -1.6062028408050537, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.916113555431366, -0.07877469807863235, 0.004005493130534887, -1.641298532485962, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5304417610168457, -1.3288700580596924, 1.2109941244125366, 1.5810253620147705, -0.9157320261001587, -1.6641870737075806, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.916113555431366, -0.07877469807863235, 0.004005493130534887, -1.6386282444000244, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -1.3906691074371338, 1.2666895389556885, 1.6306172609329224, -0.962272047996521, -1.718738079071045, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9149690866470337, -0.07877469807863235, 0.004005493130534887, -1.638246774673462, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5304417610168457, -1.4406423568725586, 1.3071259260177612, 1.654268741607666, -0.9859235286712646, -1.7805371284484863, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9153505563735962, -0.07877469807863235, 0.004005493130534887, -1.6378653049468994, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5300602912902832, -1.4822232723236084, 1.3303959369659424, 1.666857361793518, -1.0015640258789062, -1.8495842218399048, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9149690866470337, -0.07877469807863235, 0.004005493130534887, -1.6351948976516724, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5304417610168457, -1.515411615371704, 1.3418402671813965, 1.6763943433761597, -1.0118639469146729, -1.9121462106704712, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9145876169204712, -0.07877469807863235, 0.004005493130534887, -1.6348134279251099, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5376898050308228, -1.5440223217010498, 1.3506141901016235, 1.6805905103683472, -1.0145342350006104, -1.9579232931137085, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9145876169204712, -0.07877469807863235, 0.004386968910694122, -1.6348134279251099, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.54417484998703, -1.571107029914856, 1.3586251735687256, 1.6790646314620972, -1.0168230533599854, -1.9941633939743042, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9145876169204712, -0.07915617525577545, 0.004386968910694122, -1.6344319581985474, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5460822582244873, -1.5955214500427246, 1.3643473386764526, 1.6714351177215576, -1.0179674625396729, -2.017814874649048, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9142061471939087, -0.07915617525577545, 0.004386968910694122, -1.6325246095657349, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5491340756416321, -1.6142138242721558, 1.3677805662155151, 1.654268741607666, -1.0099564790725708, -2.0342183113098145, -0.0014261772157624364, 0.0014261772157624364, 0.9126802682876587, -0.07991912961006165, 0.00476844422519207, -1.6309987306594849, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5453193187713623, -1.6256580352783203, 1.3696879148483276, 1.6466392278671265, -0.9897382855415344, -2.054436445236206, -0.005019350443035364, 0.005019350443035364, 0.9122987985610962, -0.07953765243291855, 0.00476844422519207, -1.6309987306594849, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5407415628433228, -1.6329060792922974, 1.3700693845748901, 1.6466392278671265, -0.9660868048667908, -2.06893253326416, -0.007843637838959694, 0.007843637838959694, 0.9107728600502014, -0.07991912961006165, 0.00476844422519207, -1.6306172609329224, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5388342142105103, -1.6393911838531494, 1.3704508543014526, 1.6416800022125244, -0.9489204287528992, -2.0757992267608643, -0.011300950311124325, 0.011300950311124325, 0.9061951637268066, -0.07991912961006165, 0.00476844422519207, -1.6256580352783203, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -1.6474021673202515, 1.3723583221435547, 1.639009714126587, -0.9378576278686523, -2.0792324542999268, -0.016166847199201584, 0.016166847199201584, 0.9004730582237244, -0.08068207651376724, 0.00476844422519207, -1.6199358701705933, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5308232307434082, -1.655794620513916, 1.3746471405029297, 1.6393911838531494, -0.9321355223655701, -2.0830471515655518, -0.016883643344044685, 0.016883643344044685, 0.8966583013534546, -0.08182650804519653, 0.005149920005351305, -1.6172655820846558, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -1.6672388315200806, 1.3815137147903442, 1.639009714126587, -0.9283207654953003, -2.0853359699249268, -0.016883643344044685, 0.016883643344044685, 0.8958953022956848, -0.08220797777175903, 0.005149920005351305, -1.6157397031784058, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5304417610168457, -1.6798275709152222, 1.3914320468902588, 1.639009714126587, -0.927176296710968, -2.0853359699249268, -0.016883643344044685, 0.016883643344044685, 0.8955138325691223, -0.08220797777175903, 0.005149920005351305, -1.6153582334518433, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5292973518371582, -1.6939421892166138, 1.4009689092636108, 1.6393911838531494, -0.9252689480781555, -2.0853359699249268, -0.016883643344044685, 0.016883643344044685, 0.8947508931159973, -0.08220797777175903, 0.005149920005351305, -1.6149767637252808, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5292973518371582, -1.7050049304962158, 1.4093613624572754, 1.6424429416656494, -0.9252689480781555, -2.0857174396514893, -0.016874033957719803, 0.016874033957719803, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6123063564300537, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5281528830528259, -1.7133973836898804, 1.4166094064712524, 1.6458762884140015, -0.924887478351593, -2.0857174396514893, -0.016854820773005486, 0.016854820773005486, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6123063564300537, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5270084738731384, -1.7198824882507324, 1.423475980758667, 1.648546576499939, -0.924887478351593, -2.0857174396514893, -0.01655769906938076, 0.01655769906938076, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6123063564300537, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5266270041465759, -1.7263675928115845, 1.4280537366867065, 1.6496909856796265, -0.9245060086250305, -2.086099147796631, -0.015261913649737835, 0.015261913649737835, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6126878261566162, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5266270041465759, -1.732471227645874, 1.4303425550460815, 1.650072455406189, -0.9245060086250305, -2.086099147796631, -0.014080345630645752, 0.014080345630645752, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6126878261566162, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5258640646934509, -1.7381932735443115, 1.4326313734054565, 1.650835394859314, -0.924124538898468, -2.086099147796631, -0.014071237295866013, 0.014071237295866013, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6126878261566162, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5254825949668884, -1.744296908378601, 1.4337759017944336, 1.6519798040390015, -0.924124538898468, -2.086099147796631, -0.014062130823731422, 0.014062130823731422, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6126878261566162, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5251010656356812, -1.7484931945800781, 1.434157371520996, 1.6531243324279785, -0.924124538898468, -2.086099147796631, -0.01234371680766344, 0.01234371680766344, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6126878261566162, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5251010656356812, -1.7511634826660156, 1.434157371520996, 1.6531243324279785, -0.924124538898468, -2.086099147796631, -0.011715484783053398, 0.011715484783053398, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6126878261566162, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5251010656356812, -1.7530708312988281, 1.434157371520996, 1.6531243324279785, -0.924124538898468, -2.086099147796631, -0.010702627710998058, 0.010702627710998058, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6126878261566162, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5251010656356812, -1.7549782991409302, 1.434157371520996, 1.6531243324279785, -0.924124538898468, -2.086099147796631, -0.010653357952833176, 0.010653357952833176, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5251010656356812, -1.7561227083206177, 1.4345388412475586, 1.652742862701416, -0.924124538898468, -2.086099147796631, -0.010037328116595745, 0.010037328116595745, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5251010656356812, -1.7591744661331177, 1.434157371520996, 1.652742862701416, -0.924124538898468, -2.086099147796631, -0.010037328116595745, 0.010037328116595745, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5251010656356812, -1.7610818147659302, 1.4333943128585815, 1.652742862701416, -0.924124538898468, -2.086099147796631, -0.010045335628092289, 0.010045335628092289, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5251010656356812, -1.7622263431549072, 1.4333943128585815, 1.652742862701416, -0.924124538898468, -2.086099147796631, -0.009273205883800983, 0.009273205883800983, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5247195959091187, -1.7637522220611572, 1.4326313734054565, 1.6523613929748535, -0.924124538898468, -2.086099147796631, -0.008156643249094486, 0.008156643249094486, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5247195959091187, -1.7652781009674072, 1.4326313734054565, 1.6523613929748535, -0.9237430095672607, -2.086099147796631, -0.007821992971003056, 0.007821992971003056, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5239566564559937, -1.7656595706939697, 1.432249903678894, 1.652742862701416, -0.924124538898468, -2.086099147796631, -0.0070942784659564495, 0.0070942784659564495, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5239566564559937, -1.7656595706939697, 1.431486964225769, 1.652742862701416, -0.924124538898468, -2.086099147796631, -0.0063503156416118145, 0.0063503156416118145, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5239566564559937, -1.7664225101470947, 1.4311054944992065, 1.652742862701416, -0.924124538898468, -2.086099147796631, -0.005391197744756937, 0.005391197744756937, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5235751867294312, -1.7668039798736572, 1.4311054944992065, 1.6531243324279785, -0.9245060086250305, -2.086099147796631, -0.0044840010814368725, 0.0044840010814368725, 0.8943694233894348, -0.08220797777175903, 0.005149920005351305, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5228122472763062, -1.7671854496002197, 1.430724024772644, 1.653505802154541, -0.924887478351593, -2.086099147796631, -0.0028944986406713724, 0.0028944986406713724, 0.8943694233894348, -0.08220797777175903, 0.005531395319849253, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5216678380966187, -1.7671854496002197, 1.430724024772644, 1.653505802154541, -0.925650417804718, -2.086099147796631, -0.0013150247978046536, 0.0013150247978046536, 0.8943694233894348, -0.08220797777175903, 0.005531395319849253, -1.6130692958831787, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5220493078231812, -1.7671854496002197, 1.430724024772644, 1.653505802154541, -0.9252689480781555, -2.086099147796631, -0.0006025503971613944, 0.0006025503971613944, 0.8943694233894348, -0.08220797777175903, 0.005531395319849253, -1.6126878261566162, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5228122472763062, -1.7671854496002197, 1.4303425550460815, 1.6538872718811035, -0.924887478351593, -2.086099147796631, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6126878261566162, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5239566564559937, -1.7671854496002197, 1.4295796155929565, 1.6538872718811035, -0.9245060086250305, -2.086099147796631, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6126878261566162, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5262455344200134, -1.7671854496002197, 1.4295796155929565, 1.6538872718811035, -0.924124538898468, -2.086099147796631, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6123063564300537, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5285343527793884, -1.7637522220611572, 1.4295796155929565, 1.6496909856796265, -0.9210727214813232, -2.0857174396514893, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6123063564300537, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5327305793762207, -1.7519264221191406, 1.4311054944992065, 1.6466392278671265, -0.9218356609344482, -2.0857174396514893, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6119248867034912, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5300602912902832, -1.737048864364624, 1.432249903678894, 1.666857361793518, -0.9237430095672607, -2.0857174396514893, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6111619472503662, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -1.72102689743042, 1.4326313734054565, 1.6771572828292847, -0.9245060086250305, -2.0857174396514893, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6103990077972412, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.533875048160553, -1.7030975818634033, 1.4326313734054565, 1.6882200241088867, -0.9245060086250305, -2.0853359699249268, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6084916591644287, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -1.6809719800949097, 1.432249903678894, 1.6973754167556763, -0.924887478351593, -2.0811398029327393, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6084916591644287, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5331120491027832, -1.650072455406189, 1.432249903678894, 1.7061493396759033, -0.924887478351593, -2.0662622451782227, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005912871100008488, -1.6084916591644287, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5331120491027832, -1.6115434169769287, 1.429961085319519, 1.7263675928115845, -0.924887478351593, -2.0578699111938477, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6084916591644287, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -1.5650033950805664, 1.4173723459243774, 1.7481117248535156, -0.916876494884491, -2.0510032176971436, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6088731288909912, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5300602912902832, -1.5077821016311646, 1.3883802890777588, 1.7610818147659302, -0.8768215179443359, -2.0502402782440186, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6088731288909912, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5289158225059509, -1.4375905990600586, 1.335736632347107, 1.7679483890533447, -0.8073930144309998, -2.0479514598846436, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6092545986175537, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5251010656356812, -1.354810357093811, 1.261348843574524, 1.7736705541610718, -0.7051575779914856, -2.0471885204315186, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005912871100008488, -1.6092545986175537, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5197604298591614, -1.2621119022369385, 1.1739909648895264, 1.7771037817001343, -0.5842298269271851, -2.0464255809783936, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005912871100008488, -1.6092545986175537, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5121309161186218, -1.1614023447036743, 1.0774776935577393, 1.7778668403625488, -0.4663538634777069, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6096360683441162, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506027340888977, -1.054970622062683, 0.9805828928947449, 1.796940565109253, -0.3572518527507782, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005912871100008488, -1.6123063564300537, -0.09517814964056015, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5041199326515198, -0.9500648379325867, 0.88979172706604, 1.816014289855957, -0.266460657119751, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.8943694233894348, -0.08411535620689392, 0.005531395319849253, -1.6123063564300537, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5014495849609375, -0.8539330363273621, 0.8161669373512268, 1.8278400897979736, -0.20542457699775696, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.8939879536628723, -0.08411535620689392, 0.005531395319849253, -1.6119248867034912, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5056458115577698, -0.7715343236923218, 0.7581826448440552, 1.8369954824447632, -0.1684214472770691, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.8936064839363098, -0.08411535620689392, 0.005531395319849253, -1.6115434169769287, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5128938555717468, -0.7242313027381897, 0.724612832069397, 1.8385213613510132, -0.1501106321811676, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.8936064839363098, -0.08411535620689392, 0.005912871100008488, -1.6111619472503662, -0.09479667246341705, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5186160206794739, -0.699053943157196, 0.7066834568977356, 1.8408102989196777, -0.13752193748950958, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.892080545425415, -0.08411535620689392, 0.00667582219466567, -1.6077287197113037, -0.09441519528627396, 1.6561760902404785, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5273899435997009, -0.6872282028198242, 0.6967650651931763, 1.8415732383728027, -0.12912946939468384, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.882543683052063, -0.08945601433515549, 0.02536812424659729, -1.58865487575531, -0.0883115902543068, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -0.6826505064964294, 0.6921873688697815, 1.8438620567321777, -0.12607766687870026, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.8463035225868225, -0.1192111074924469, 0.09670405089855194, -1.5707255601882935, -0.008964675478637218, 1.6546502113342285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.533875048160553, -0.6803616285324097, 0.6898985505104065, 1.8442435264587402, -0.12378881871700287, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.7753490209579468, -0.17872129380702972, 0.2004653960466385, -1.5627145767211914, 0.1203555315732956, 1.655031681060791, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5357823967933655, -0.6788357496261597, 0.689517080783844, 1.8442435264587402, -0.12302586436271667, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.6879911422729492, -0.25234606862068176, 0.30231937766075134, -1.5588998794555664, 0.24280919134616852, 1.6554131507873535, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5365453362464905, -0.6788357496261597, 0.690280020236969, 1.8442435264587402, -0.12302586436271667, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.5796520709991455, -0.3526741564273834, 0.41065841913223267, -1.5588998794555664, 0.36564430594444275, 1.6577019691467285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5376898050308228, -0.6788357496261597, 0.6906614899635315, 1.8442435264587402, -0.12264438718557358, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.481612890958786, -0.46063172817230225, 0.5052643418312073, -1.5588998794555664, 0.464446485042572, 1.6577019691467285, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5376898050308228, -0.6788357496261597, 0.6906614899635315, 1.8442435264587402, -0.12264438718557358, -2.043755292892456, -0.000351475493516773, 0.000351475493516773, 0.4068436622619629, -0.5746929049491882, 0.5891889929771423, -1.5588998794555664, 0.5407415628433228, 1.6680018901824951, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5376898050308228, -0.6788357496261597, 0.6906614899635315, 1.8438620567321777, -0.12226291000843048, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.35191118717193604, -0.7063019871711731, 0.6784542798995972, -1.5588998794555664, 0.6170367002487183, 1.6886014938354492, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5376898050308228, -0.6788357496261597, 0.6906614899635315, 1.8438620567321777, -0.12226291000843048, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.31948578357696533, -0.8478294014930725, 0.7703898549079895, -1.559281349182129, 0.6898985505104065, 1.7011902332305908, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5376898050308228, -0.6788357496261597, 0.6906614899635315, 1.8438620567321777, -0.12188144028186798, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.30346378684043884, -0.9718089699745178, 0.8508812189102173, -1.5596628189086914, 0.7375829815864563, 1.7072938680648804, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5376898050308228, -0.6788357496261597, 0.6906614899635315, 1.8438620567321777, -0.12188144028186798, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.0900664329528809, 0.9328984618186951, -1.5634775161743164, 0.7795453071594238, 1.7126344442367554, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5373083353042603, -0.6788357496261597, 0.6906614899635315, 1.8434805870056152, -0.12188144028186798, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.28706035017967224, -1.19306480884552, 1.0103379487991333, -1.5722514390945435, 0.8237964510917664, 1.7233158349990845, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.6807430982589722, 0.6906614899635315, 1.8438620567321777, -0.12149996310472488, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.28515297174453735, -1.2861448526382446, 1.0805294513702393, -1.5901808738708496, 0.8737697601318359, 1.7401007413864136, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.533875048160553, -0.6841763854026794, 0.6906614899635315, 1.8434805870056152, -0.12149996310472488, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.28439003229141235, -1.3632028102874756, 1.1308842897415161, -1.6008621454238892, 0.9065766334533691, 1.7561227083206177, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5315861701965332, -0.689517080783844, 0.691805899143219, 1.8434805870056152, -0.12149996310472488, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.28477150201797485, -1.429961085319519, 1.1648355722427368, -1.6081101894378662, 0.926413357257843, 1.7725261449813843, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -0.693331778049469, 0.6929503083229065, 1.8434805870056152, -0.12149996310472488, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.28782328963279724, -1.487945318222046, 1.191157341003418, -1.6119248867034912, 0.9351872801780701, 1.7832074165344238, -1.2464786323107546e-06, 1.2464786323107546e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -0.6952391862869263, 0.6937133073806763, 1.8434805870056152, -0.12149996310472488, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.291638046503067, -1.5352483987808228, 1.2136644124984741, -1.6107804775238037, 0.9435797929763794, 1.793125867843628, -0.005647024605423212, 0.005647024605423212], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5323491096496582, -0.6967650651931763, 0.6937133073806763, 1.8434805870056152, -0.12149996310472488, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.570344090461731, 1.2331197261810303, -1.6004806756973267, 0.9515907764434814, 1.8003737926483154, -0.007850857451558113, 0.007850857451558113], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.534637987613678, -0.6986724734306335, 0.6937133073806763, 1.8434805870056152, -0.12149996310472488, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2935454249382019, -1.5939955711364746, 1.2479972839355469, -1.596665859222412, 0.954261064529419, 1.8022812604904175, -0.009350813925266266, 0.009350813925266266], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.534637987613678, -0.6994354128837585, 0.6937133073806763, 1.8434805870056152, -0.12188144028186798, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2939268946647644, -1.6092545986175537, 1.2594414949417114, -1.5924696922302246, 0.9557870030403137, 1.8038071393966675, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.534637987613678, -0.699816882610321, 0.6937133073806763, 1.8434805870056152, -0.12188144028186798, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2939268946647644, -1.6195544004440308, 1.2682154178619385, -1.5917067527770996, 0.9569314122200012, 1.80418860912323, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.534637987613678, -0.699816882610321, 0.6937133073806763, 1.8434805870056152, -0.12188144028186798, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2939268946647644, -1.6268024444580078, 1.273556113243103, -1.589417815208435, 0.9576943516731262, 1.8053330183029175, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.534637987613678, -0.699816882610321, 0.6937133073806763, 1.8434805870056152, -0.12188144028186798, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2935454249382019, -1.6309987306594849, 1.275081992149353, -1.589417815208435, 0.9584572911262512, 1.8068588972091675, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.534637987613678, -0.699816882610321, 0.6937133073806763, 1.8434805870056152, -0.12188144028186798, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.6329060792922974, 1.273556113243103, -1.589417815208435, 0.9584572911262512, 1.8068588972091675, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.699816882610321, 0.6937133073806763, 1.8434805870056152, -0.12188144028186798, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.6336690187454224, 1.2701228857040405, -1.589417815208435, 0.9588387608528137, 1.8068588972091675, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5357823967933655, -0.699816882610321, 0.6937133073806763, 1.8434805870056152, -0.12188144028186798, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.6336690187454224, 1.265545129776001, -1.589417815208435, 0.9584572911262512, 1.8068588972091675, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5357823967933655, -0.699816882610321, 0.6937133073806763, 1.8430991172790527, -0.12188144028186798, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.6336690187454224, 1.260585904121399, -1.589417815208435, 0.9588387608528137, 1.8068588972091675, -0.010197984054684639, 0.010197984054684639], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5357823967933655, -0.699816882610321, 0.6937133073806763, 1.8430991172790527, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.6336690187454224, 1.256771206855774, -1.589417815208435, 0.9588387608528137, 1.8068588972091675, -0.01018992718309164, 0.01018992718309164], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5357823967933655, -0.699816882610321, 0.6937133073806763, 1.8430991172790527, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.6336690187454224, 1.255245327949524, -1.5897992849349976, 0.9584572911262512, 1.8068588972091675, -0.00898841954767704, 0.00898841954767704], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5357823967933655, -0.7001983523368835, 0.6937133073806763, 1.8430991172790527, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.6336690187454224, 1.254482388496399, -1.5901808738708496, 0.9584572911262512, 1.8068588972091675, -0.008149305358529091, 0.008149305358529091], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5357823967933655, -0.700579822063446, 0.6937133073806763, 1.8427176475524902, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.6336690187454224, 1.2537193298339844, -1.5939955711364746, 0.9588387608528137, 1.806477427482605, -0.006731532048434019, 0.006731532048434019], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5357823967933655, -0.700579822063446, 0.6937133073806763, 1.8430991172790527, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.6336690187454224, 1.2533378601074219, -1.6000992059707642, 0.9584572911262512, 1.806477427482605, -0.006403262261301279, 0.006403262261301279], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.535400927066803, -0.7009612917900085, 0.6937133073806763, 1.8427176475524902, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.6336690187454224, 1.2521934509277344, -1.6092545986175537, 0.9580758213996887, 1.806477427482605, -0.005939714144915342, 0.005939714144915342], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5334935784339905, -0.7017242908477783, 0.6937133073806763, 1.8427176475524902, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.6332875490188599, 1.2502861022949219, -1.6161211729049683, 0.9554055333137512, 1.806477427482605, -0.0034765347372740507, 0.0034765347372740507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -0.7017242908477783, 0.6937133073806763, 1.8427176475524902, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2935454249382019, -1.6329060792922974, 1.2472343444824219, -1.6203173398971558, 0.9523537158966064, 1.806477427482605, -0.001015242887660861, 0.001015242887660861], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -0.7017242908477783, 0.6937133073806763, 1.8427176475524902, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2935454249382019, -1.6321431398391724, 1.2434195280075073, -1.6271839141845703, 0.9504463076591492, 1.806477427482605, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5312047004699707, -0.7017242908477783, 0.6937133073806763, 1.8427176475524902, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2935454249382019, -1.6313802003860474, 1.2396048307418823, -1.6363393068313599, 0.9504463076591492, 1.806477427482605, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5308232307434082, -0.7017242908477783, 0.6937133073806763, 1.8423361778259277, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2935454249382019, -1.6294728517532349, 1.2365529537200928, -1.646257758140564, 0.9508277773857117, 1.806477427482605, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5308232307434082, -0.7017242908477783, 0.6937133073806763, 1.8423361778259277, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2954528033733368, -1.6229877471923828, 1.2338826656341553, -1.6649500131607056, 0.9523537158966064, 1.8060959577560425, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5273899435997009, -0.7017242908477783, 0.6967650651931763, 1.8427176475524902, -0.12188144028186798, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.2924010157585144, -1.6027694940567017, 1.2346456050872803, -1.6973754167556763, 0.9737163186073303, 1.8053330183029175, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5189974904060364, -0.7021057605743408, 0.7032501697540283, 1.8423361778259277, -0.12188144028186798, -2.0471885204315186, -0.000351475493516773, 0.000351475493516773, 0.2973601818084717, -1.5699626207351685, 1.2426565885543823, -1.7153048515319824, 0.9626535177230835, 1.8053330183029175, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506027340888977, -0.7051575779914856, 0.7127870321273804, 1.8415732383728027, -0.12264438718557358, -2.047569990158081, -0.000351475493516773, 0.000351475493516773, 0.29888609051704407, -1.5325779914855957, 1.2586785554885864, -1.7446783781051636, 0.959220290184021, 1.804951548576355, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49153125286102295, -0.7192721366882324, 0.733386754989624, 1.8411917686462402, -0.12226291000843048, -2.047569990158081, -0.000351475493516773, 0.000351475493516773, 0.2958342730998993, -1.4955748319625854, 1.2804226875305176, -1.7832074165344238, 0.9454871416091919, 1.8068588972091675, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4659723937511444, -0.7501716613769531, 0.770008385181427, 1.8411917686462402, -0.12188144028186798, -2.0471885204315186, -0.000351475493516773, 0.000351475493516773, 0.29964902997016907, -1.4608606100082397, 1.3143739700317383, -1.812199592590332, 0.9058136940002441, 1.8068588972091675, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42706188559532166, -0.8020523190498352, 0.8279926776885986, 1.8411917686462402, -0.12226291000843048, -2.0471885204315186, -0.000351475493516773, 0.000351475493516773, 0.2962157726287842, -1.440260887145996, 1.359769582748413, -1.8465323448181152, 0.8619440197944641, 1.8068588972091675, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.38242924213409424, -0.8669031858444214, 0.8993285894393921, 1.8411917686462402, -0.12149996310472488, -2.0471885204315186, -0.000351475493516773, 0.000351475493516773, 0.290875107049942, -1.432249903678894, 1.408979892730713, -1.883916974067688, 0.7986190319061279, 1.8068588972091675, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33016708493232727, -0.9500648379325867, 0.9927901029586792, 1.8415732383728027, -0.12188144028186798, -2.046807050704956, -0.000351475493516773, 0.000351475493516773, 0.28515297174453735, -1.4326313734054565, 1.4524681568145752, -1.9048981666564941, 0.7196536064147949, 1.8068588972091675, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28362706303596497, -1.0236896276474, 1.0831998586654663, 1.8415732383728027, -0.12188144028186798, -2.0464255809783936, -0.000351475493516773, 0.000351475493516773, 0.26836803555488586, -1.440260887145996, 1.491378664970398, -1.9213016033172607, 0.6422140598297119, 1.8068588972091675, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2443350851535797, -1.0893033742904663, 1.1728465557098389, 1.8415732383728027, -0.12188144028186798, -2.045281171798706, -0.000351475493516773, 0.000351475493516773, 0.25425344705581665, -1.4452201128005981, 1.5226596593856812, -1.9316014051437378, 0.5724040865898132, 1.8068588972091675, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22297245264053345, -1.1320286989212036, 1.2346456050872803, 1.8415732383728027, -0.1203555315732956, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.24891279637813568, -1.4490348100662231, 1.5329594612121582, -1.9342718124389648, 0.5334935784339905, 1.806477427482605, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21763180196285248, -1.1594948768615723, 1.259060025215149, 1.8419547080993652, -0.1199740618467331, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.24280919134616852, -1.4452201128005981, 1.5135042667388916, -1.9380865097045898, 0.506027340888977, 1.7996108531951904, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23212787508964539, -1.1732280254364014, 1.2388418912887573, 1.8419547080993652, -0.1203555315732956, -2.0441367626190186, -0.000351475493516773, 0.000351475493516773, 0.24128328263759613, -1.434157371520996, 1.4559013843536377, -1.9380865097045898, 0.49114975333213806, 1.7915998697280884, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2626459002494812, -1.1739909648895264, 1.1846723556518555, 1.8419547080993652, -0.12226291000843048, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.24891279637813568, -1.415464997291565, 1.3769359588623047, -1.9369421005249023, 0.47398337721824646, 1.7862592935562134, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3118562698364258, -1.1579689979553223, 1.11142897605896, 1.8419547080993652, -0.12264438718557358, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2615014910697937, -1.3902876377105713, 1.2907224893569946, -1.9346532821655273, 0.46368351578712463, 1.7839703559875488, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36678874492645264, -1.1289769411087036, 1.039711594581604, 1.8419547080993652, -0.12264438718557358, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2740901708602905, -1.3578622341156006, 1.2125200033187866, -1.9346532821655273, 0.4522392749786377, 1.7809185981750488, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.40989547967910767, -1.0915923118591309, 0.9802014231681824, 1.8419547080993652, -0.12264438718557358, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.28362706303596497, -1.3162813186645508, 1.1495765447616577, -1.9346532821655273, 0.4247730076313019, 1.7809185981750488, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44384679198265076, -1.050774335861206, 0.9325169920921326, 1.8419547080993652, -0.12264438718557358, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.2927824854850769, -1.2724117040634155, 1.098077416419983, -1.9308384656906128, 0.4091325104236603, 1.7851147651672363, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47779813408851624, -1.0149157047271729, 0.8951323628425598, 1.8419547080993652, -0.12226291000843048, -2.044518232345581, -0.000351475493516773, 0.000351475493516773, 0.3061341345310211, -1.2289234399795532, 1.050774335861206, -1.9300755262374878, 0.39921414852142334, 1.7889295816421509, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5212863087654114, -0.9893568158149719, 0.8665217161178589, 1.8415732383728027, -0.12264438718557358, -2.0448997020721436, -0.000351475493516773, 0.000351475493516773, 0.3263523280620575, -1.1900129318237305, 1.0049973726272583, -1.9266422986984253, 0.39883267879486084, 1.7912184000015259, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5834668278694153, -0.9752422571182251, 0.8478294014930725, 1.8411917686462402, -0.12722209095954895, -2.047569990158081, -0.000351475493516773, 0.000351475493516773, 0.34847790002822876, -1.1530098915100098, 0.9626535177230835, -1.9258793592453003, 0.3999771177768707, 1.7923628091812134, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6631952524185181, -0.9714275002479553, 0.8344777822494507, 1.8408102989196777, -0.14133669435977936, -2.0479514598846436, -0.000351475493516773, 0.000351475493516773, 0.3686961233615875, -1.118677020072937, 0.924124538898468, -1.9235904216766357, 0.4091325104236603, 1.7923628091812134, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7494087219238281, -0.9798199534416199, 0.8264667987823486, 1.8408102989196777, -0.14591439068317413, -2.0479514598846436, -0.000351475493516773, 0.000351475493516773, 0.38090333342552185, -1.0881589651107788, 0.8901731967926025, -1.9235904216766357, 0.4205767810344696, 1.7927442789077759, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8302815556526184, -1.0080491304397583, 0.8245593905448914, 1.8404288291931152, -0.1512550562620163, -2.0479514598846436, -0.000351475493516773, 0.000351475493516773, 0.387006938457489, -1.0637445449829102, 0.8615625500679016, -1.9235904216766357, 0.43049514293670654, 1.7927442789077759, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -1.057259440422058, 0.8318074345588684, 1.8400473594665527, -0.15430685877799988, -2.0479514598846436, -0.000351475493516773, 0.000351475493516773, 0.3927290737628937, -1.0442893505096436, 0.837911069393158, -1.9235904216766357, 0.4354543387889862, 1.793125867843628, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -1.120202898979187, 0.84744793176651, 1.8400473594665527, -0.15506981313228607, -2.0479514598846436, -0.000351475493516773, 0.000351475493516773, 0.39654383063316345, -1.033226490020752, 0.8215075731277466, -1.9235904216766357, 0.439269095659256, 1.793125867843628, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0000381469726562, -1.1907758712768555, 0.8691920638084412, 1.8400473594665527, -0.15812161564826965, -2.0479514598846436, -0.000351475493516773, 0.000351475493516773, 0.39921414852142334, -1.0275044441223145, 0.8104447722434998, -1.9232089519500732, 0.44193941354751587, 1.7935073375701904, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0481040477752686, -1.267071008682251, 0.8958953022956848, 1.8396657705307007, -0.15774014592170715, -2.048332929611206, -0.000351475493516773, 0.000351475493516773, 0.4011215269565582, -1.0240710973739624, 0.8054856061935425, -1.9235904216766357, 0.44232088327407837, 1.7935073375701904, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0915923118591309, -1.3361181020736694, 0.9279392957687378, 1.8396657705307007, -0.15774014592170715, -2.048332929611206, -0.000351475493516773, 0.000351475493516773, 0.4030289053916931, -1.0225452184677124, 0.8024337887763977, -1.9232089519500732, 0.44460976123809814, 1.7935073375701904, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1301213502883911, -1.3971542119979858, 0.9645609259605408, 1.8369954824447632, -0.15774014592170715, -2.048332929611206, -0.000351475493516773, 0.000351475493516773, 0.4053177833557129, -1.02216374874115, 0.7997635006904602, -1.9228274822235107, 0.44460976123809814, 1.7935073375701904, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1579689979553223, -1.4440757036209106, 0.9977492690086365, 1.8369954824447632, -0.15735866129398346, -2.0487143993377686, -0.000351475493516773, 0.000351475493516773, 0.40951400995254517, -1.0206378698349, 0.7970931529998779, -1.9228274822235107, 0.44460976123809814, 1.7935073375701904, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1675058603286743, -1.4734493494033813, 1.0183489322662354, 1.8373769521713257, -0.15735866129398346, -2.0487143993377686, -0.000351475493516773, 0.000351475493516773, 0.41294726729393005, -1.0175859928131104, 0.7921339869499207, -1.9224460124969482, 0.44422826170921326, 1.7935073375701904, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1678873300552368, -1.4894713163375854, 1.0275044441223145, 1.8373769521713257, -0.15735866129398346, -2.0487143993377686, -0.000351475493516773, 0.000351475493516773, 0.41638055443763733, -1.0130083560943604, 0.7841230034828186, -1.9205386638641357, 0.44460976123809814, 1.7935073375701904, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1655985116958618, -1.5005340576171875, 1.0336079597473145, 1.8373769521713257, -0.15735866129398346, -2.0487143993377686, -0.000351475493516773, 0.000351475493516773, 0.4175249934196472, -1.0080491304397583, 0.7753490209579468, -1.9201571941375732, 0.44537270069122314, 1.7935073375701904, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1640726327896118, -1.5100709199905396, 1.0408560037612915, 1.8373769521713257, -0.15697719156742096, -2.049858808517456, -0.000351475493516773, 0.000351475493516773, 0.4182879328727722, -1.0034713745117188, 0.7669565677642822, -1.9190127849578857, 0.44537270069122314, 1.7935073375701904, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1690318584442139, -1.517700433731079, 1.046196699142456, 1.8373769521713257, -0.15735866129398346, -2.0510032176971436, -0.004570657853037119, 0.004570657853037119, 0.4190509021282196, -1.0004196166992188, 0.7597085237503052, -1.9155794382095337, 0.44499123096466064, 1.7935073375701904, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.180857539176941, -1.5211337804794312, 1.046959638595581, 1.8373769521713257, -0.15735866129398346, -2.0510032176971436, -0.026357203722000122, 0.026357203722000122, 0.4194323718547821, -0.9981307983398438, 0.7543678879737854, -1.9148164987564087, 0.44499123096466064, 1.7935073375701904, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.198405385017395, -1.514648675918579, 1.036659836769104, 1.8373769521713257, -0.15735866129398346, -2.0510032176971436, -0.026724329218268394, 0.026724329218268394, 0.4194323718547821, -0.996604859828949, 0.7509346008300781, -1.9125276803970337, 0.44537270069122314, 1.7935073375701904, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.2155718803405762, -1.490615725517273, 1.0122454166412354, 1.8377584218978882, -0.15735866129398346, -2.0510032176971436, -0.027166103944182396, 0.027166103944182396, 0.4194323718547821, -0.994316041469574, 0.7478827834129333, -1.9125276803970337, 0.4499503970146179, 1.7935073375701904, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.2273975610733032, -1.437209129333496, 0.9637979865074158, 1.8377584218978882, -0.15735866129398346, -2.050621747970581, -0.028490206226706505, 0.028490206226706505, 0.4194323718547821, -0.9924086332321167, 0.7455939650535583, -1.9121462106704712, 0.4678797721862793, 1.7927442789077759, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.2296863794326782, -1.3555734157562256, 0.8989471197128296, 1.8377584218978882, -0.15735866129398346, -2.050621747970581, -0.027385829016566277, 0.027385829016566277, 0.422102689743042, -0.9897382855415344, 0.7410162687301636, -1.9125276803970337, 0.49229419231414795, 1.7870222330093384, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.2254902124404907, -1.2541009187698364, 0.8234149813652039, 1.8381398916244507, -0.15735866129398346, -2.050621747970581, -0.014354518614709377, 0.014354518614709377, 0.4346913993358612, -0.9855420589447021, 0.7372015118598938, -1.9125276803970337, 0.5243381261825562, 1.7744334936141968, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.2087053060531616, -1.1408026218414307, 0.7421606779098511, 1.8381398916244507, -0.15735866129398346, -2.050621747970581, -0.012772323563694954, 0.012772323563694954, 0.45757991075515747, -0.9798199534416199, 0.733386754989624, -1.9125276803970337, 0.5590524077415466, 1.7565041780471802, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.180857539176941, -1.0168230533599854, 0.6658655405044556, 1.8385213613510132, -0.15774014592170715, -2.050621747970581, -0.009413096122443676, 0.009413096122443676, 0.4880979657173157, -0.9767681360244751, 0.7310978770256042, -1.9125276803970337, 0.6002517938613892, 1.738956332206726, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1400396823883057, -0.8882657885551453, 0.6013962030410767, 1.8385213613510132, -0.15774014592170715, -2.0502402782440186, -0.0036461357958614826, 0.0036461357958614826, 0.5254825949668884, -0.9721904397010803, 0.7307164072990417, -1.9129091501235962, 0.6429770588874817, 1.722934365272522, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0843442678451538, -0.7646677494049072, 0.5510414242744446, 1.8389028310775757, -0.15774014592170715, -2.0502402782440186, -3.757924059755169e-05, 3.757924059755169e-05, 0.5632486343383789, -0.9699015617370605, 0.7322422862052917, -1.9125276803970337, 0.6853207945823669, 1.7084382772445679, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0145342350006104, -0.6540398001670837, 0.5102235674858093, 1.8389028310775757, -0.15735866129398346, -2.0502402782440186, -3.095445572398603e-05, 3.095445572398603e-05, 0.6055924296379089, -0.9668498039245605, 0.7364385724067688, -1.9129091501235962, 0.7299534678459167, 1.6950865983963013, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9275577664375305, -0.5582894682884216, 0.47398337721824646, 1.8392843008041382, -0.15774014592170715, -2.0502402782440186, -3.095445572398603e-05, 3.095445572398603e-05, 0.6521324515342712, -0.9641794562339783, 0.7394903302192688, -1.9129091501235962, 0.7761120200157166, 1.6786831617355347, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8611810207366943, -0.49191272258758545, 0.4522392749786377, 1.8392843008041382, -0.15850308537483215, -2.049858808517456, -3.095445572398603e-05, 3.095445572398603e-05, 0.7013428211212158, -0.960746169090271, 0.7394903302192688, -1.9125276803970337, 0.8085374236106873, 1.6634241342544556, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8093003630638123, -0.4541466534137726, 0.44117647409439087, 1.8392843008041382, -0.15812161564826965, -2.049858808517456, -3.095445572398603e-05, 3.095445572398603e-05, 0.7509346008300781, -0.959220290184021, 0.7383459210395813, -1.9125276803970337, 0.8272297382354736, 1.650835394859314, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7719157934188843, -0.4331654906272888, 0.4354543387889862, 1.8389028310775757, -0.15850308537483215, -2.049858808517456, -3.095445572398603e-05, 3.095445572398603e-05, 0.7936598658561707, -0.9584572911262512, 0.734912633895874, -1.9129091501235962, 0.8279926776885986, 1.6416800022125244, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7410162687301636, -0.4217212200164795, 0.4327840209007263, 1.8389028310775757, -0.15812161564826965, -2.0494773387908936, -3.095445572398603e-05, 3.095445572398603e-05, 0.8272297382354736, -0.9596017599105835, 0.728427529335022, -1.9125276803970337, 0.8230335116386414, 1.6344319581985474, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7207980751991272, -0.41638055443763733, 0.43087664246559143, 1.8385213613510132, -0.15812161564826965, -2.0494773387908936, -3.095445572398603e-05, 3.095445572398603e-05, 0.8543145060539246, -0.9706645011901855, 0.724612832069397, -1.9113832712173462, 0.8119707107543945, 1.6302357912063599, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7093538045883179, -0.41371023654937744, 0.42896926403045654, 1.8377584218978882, -0.15774014592170715, -2.0487143993377686, -3.095445572398603e-05, 3.095445572398603e-05, 0.8772030472755432, -0.9908827543258667, 0.726901650428772, -1.9060425758361816, 0.80510413646698, 1.6271839141845703, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7032501697540283, -0.41218432784080505, 0.42744335532188416, 1.8377584218978882, -0.15735866129398346, -2.0487143993377686, -3.095445572398603e-05, 3.095445572398603e-05, 0.8981841802597046, -1.0172045230865479, 0.735675573348999, -1.883916974067688, 0.7890821695327759, 1.6264209747314453, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.700579822063446, -0.41142138838768005, 0.42553597688674927, 1.8377584218978882, -0.15735866129398346, -2.0487143993377686, -3.095445572398603e-05, 3.095445572398603e-05, 0.9153505563735962, -1.043144941329956, 0.7455939650535583, -1.8495842218399048, 0.7654306888580322, 1.6260395050048828, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.698291003704071, -0.41142138838768005, 0.4228656589984894, 1.8377584218978882, -0.15697719156742096, -2.049095869064331, -3.095445572398603e-05, 3.095445572398603e-05, 0.9351872801780701, -1.0664149522781372, 0.7543678879737854, -1.8228808641433716, 0.7429236173629761, 1.6256580352783203, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6979095339775085, -0.41294726729393005, 0.4205767810344696, 1.8377584218978882, -0.15735866129398346, -2.049095869064331, -3.095445572398603e-05, 3.095445572398603e-05, 0.9546425342559814, -1.0877774953842163, 0.76276034116745, -1.804951548576355, 0.7272831201553345, 1.6248950958251953, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.697528064250946, -0.41447317600250244, 0.4186694025993347, 1.8377584218978882, -0.15735866129398346, -2.049095869064331, -3.095445572398603e-05, 3.095445572398603e-05, 0.9660868048667908, -1.10685133934021, 0.769245445728302, -1.7721446752548218, 0.7177462577819824, 1.6233692169189453, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.697528064250946, -0.41523614525794983, 0.4179064631462097, 1.8377584218978882, -0.15735866129398346, -2.049095869064331, -3.095445572398603e-05, 3.095445572398603e-05, 0.969520092010498, -1.121347427368164, 0.7719157934188843, -1.736285924911499, 0.7139315009117126, 1.6233692169189453, -0.005115871783345938, 0.005115871783345938], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.697528064250946, -0.4171435236930847, 0.41676202416419983, 1.8377584218978882, -0.15735866129398346, -2.0494773387908936, -3.095445572398603e-05, 3.095445572398603e-05, 0.9588387608528137, -1.128213882446289, 0.7749675512313843, -1.6931792497634888, 0.7146944403648376, 1.6233692169189453, -0.010302972048521042, 0.010302972048521042], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.697528064250946, -0.4190509021282196, 0.41599908471107483, 1.8377584218978882, -0.15735866129398346, -2.049858808517456, -3.095445572398603e-05, 3.095445572398603e-05, 0.9332799315452576, -1.1301213502883911, 0.7925154566764832, -1.6683833599090576, 0.7513160705566406, 1.6237506866455078, -0.010400273837149143, 0.010400273837149143], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.697528064250946, -0.4194323718547821, 0.41485464572906494, 1.8381398916244507, -0.15735866129398346, -2.0494773387908936, -3.095445572398603e-05, 3.095445572398603e-05, 0.889028787612915, -1.1224918365478516, 0.8104447722434998, -1.658083438873291, 0.8157854676246643, 1.6237506866455078, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6971465349197388, -0.4201953113079071, 0.41447317600250244, 1.8381398916244507, -0.15735866129398346, -2.049858808517456, -3.095445572398603e-05, 3.095445572398603e-05, 0.8302815556526184, -1.1053253412246704, 0.8112077713012695, -1.663805603981018, 0.8802548050880432, 1.6245136260986328, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -0.4201953113079071, 0.41371023654937744, 1.8381398916244507, -0.15735866129398346, -2.049858808517456, -3.095445572398603e-05, 3.095445572398603e-05, 0.7719157934188843, -1.0847257375717163, 0.7951858043670654, -1.6863126754760742, 0.9267948269844055, 1.6268024444580078, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -0.4205767810344696, 0.41180285811424255, 1.8377584218978882, -0.15735866129398346, -2.049858808517456, -3.095445572398603e-05, 3.095445572398603e-05, 0.7223239541053772, -1.0702296495437622, 0.7711527943611145, -1.7183566093444824, 0.959983229637146, 1.6268024444580078, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -0.421339750289917, 0.40989547967910767, 1.8381398916244507, -0.15735866129398346, -2.0502402782440186, -3.095445572398603e-05, 3.095445572398603e-05, 0.6818875670433044, -1.0626001358032227, 0.7444495558738708, -1.7484931945800781, 0.9843976497650146, 1.6264209747314453, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -0.4228656589984894, 0.4087510406970978, 1.8381398916244507, -0.15735866129398346, -2.0502402782440186, -3.095445572398603e-05, 3.095445572398603e-05, 0.6429770588874817, -1.0587854385375977, 0.7204165458679199, -1.7694742679595947, 0.997367799282074, 1.6264209747314453, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -0.4236285984516144, 0.4087510406970978, 1.8381398916244507, -0.15735866129398346, -2.0502402782440186, -3.095445572398603e-05, 3.095445572398603e-05, 0.614366352558136, -1.058022379875183, 0.7036316394805908, -1.7809185981750488, 1.0042344331741333, 1.6264209747314453, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -0.4243915379047394, 0.4083695709705353, 1.8381398916244507, -0.15735866129398346, -2.0502402782440186, -3.095445572398603e-05, 3.095445572398603e-05, 0.5933852195739746, -1.0595483779907227, 0.6906614899635315, -1.7851147651672363, 1.0072861909866333, 1.6264209747314453, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -0.42515450716018677, 0.4087510406970978, 1.8381398916244507, -0.15735866129398346, -2.0502402782440186, -3.095445572398603e-05, 3.095445572398603e-05, 0.5788891315460205, -1.0660333633422852, 0.6795986890792847, -1.7893110513687134, 1.0076676607131958, 1.6260395050048828, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -0.42591744661331177, 0.4083695709705353, 1.8381398916244507, -0.15735866129398346, -2.050621747970581, -3.095445572398603e-05, 3.095445572398603e-05, 0.569733738899231, -1.0728999376296997, 0.6708247661590576, -1.7927442789077759, 1.0069047212600708, 1.6260395050048828, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -0.42668038606643677, 0.4087510406970978, 1.8377584218978882, -0.15735866129398346, -2.050621747970581, -3.095445572398603e-05, 3.095445572398603e-05, 0.5666819214820862, -1.0782406330108643, 0.6658655405044556, -1.795414686203003, 1.0019454956054688, 1.6260395050048828, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6952391862869263, -0.42706188559532166, 0.4087510406970978, 1.8369954824447632, -0.15735866129398346, -2.050621747970581, -3.095445572398603e-05, 3.095445572398603e-05, 0.5636301040649414, -1.0812923908233643, 0.6631952524185181, -1.795414686203003, 0.9977492690086365, 1.6260395050048828, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6929503083229065, -0.42744335532188416, 0.4083695709705353, 1.820973515510559, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5605783462524414, -1.0873960256576538, 0.6612878441810608, -1.7957961559295654, 0.9916456937789917, 1.6256580352783203, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6887540817260742, -0.42858776450157166, 0.4079881012439728, 1.804951548576355, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5563820600509644, -1.0957884788513184, 0.6601434350013733, -1.7957961559295654, 0.9840161800384521, 1.6252765655517578, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6872282028198242, -0.42896926403045654, 0.4079881012439728, 1.7965590953826904, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5552376508712769, -1.10685133934021, 0.6586175560951233, -1.7957961559295654, 0.9794384837150574, 1.6256580352783203, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6868467330932617, -0.42896926403045654, 0.4076066315174103, 1.7912184000015259, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5540932416915894, -1.117151141166687, 0.6578545570373535, -1.7957961559295654, 0.9683756828308105, 1.6252765655517578, -0.010408398695290089, 0.010408398695290089], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6845578551292419, -0.42896926403045654, 0.4076066315174103, 1.7870222330093384, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5529488325119019, -1.1247806549072266, 0.657473087310791, -1.7957961559295654, 0.9584572911262512, 1.6252765655517578, -0.010392150841653347, 0.010392150841653347], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6830319762229919, -0.42896926403045654, 0.4076066315174103, 1.7870222330093384, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5525673031806946, -1.1297398805618286, 0.657473087310791, -1.7957961559295654, 0.9531166553497314, 1.6252765655517578, -0.008973132818937302, 0.008973132818937302], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6826505064964294, -0.42896926403045654, 0.4076066315174103, 1.7870222330093384, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5502784848213196, -1.1324101686477661, 0.6570916175842285, -1.7957961559295654, 0.9462500810623169, 1.6252765655517578, -0.007592699024826288, 0.007592699024826288], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6818875670433044, -0.42896926403045654, 0.4076066315174103, 1.7851147651672363, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5487525463104248, -1.1343175172805786, 0.656710147857666, -1.7957961559295654, 0.9412909150123596, 1.6252765655517578, -0.006867480929940939, 0.006867480929940939], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6815060377120972, -0.42896926403045654, 0.4076066315174103, 1.7839703559875488, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5483710765838623, -1.1350804567337036, 0.655947208404541, -1.795414686203003, 0.9378576278686523, 1.6248950958251953, -0.006290968041867018, 0.006290968041867018], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6815060377120972, -0.42896926403045654, 0.4076066315174103, 1.7839703559875488, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5460822582244873, -1.1358433961868286, 0.654421329498291, -1.7957961559295654, 0.9328984618186951, 1.6252765655517578, -0.005786257795989513, 0.005786257795989513], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6811245679855347, -0.42896926403045654, 0.4076066315174103, 1.7839703559875488, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5437933802604675, -1.1373693943023682, 0.6525139212608337, -1.7957961559295654, 0.9313725233078003, 1.6252765655517578, -0.005559134762734175, 0.005559134762734175], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6811245679855347, -0.42896926403045654, 0.4076066315174103, 1.7839703559875488, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5422675013542175, -1.1388952732086182, 0.6517509818077087, -1.7957961559295654, 0.9294651746749878, 1.6252765655517578, -0.005403566639870405, 0.005403566639870405], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6811245679855347, -0.42896926403045654, 0.4079881012439728, 1.7839703559875488, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.541886031627655, -1.1415655612945557, 0.6506065726280212, -1.795414686203003, 0.9283207654953003, 1.6252765655517578, -0.004617130383849144, 0.004617130383849144], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6807430982589722, -0.42896926403045654, 0.4076066315174103, 1.7839703559875488, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5403600931167603, -1.1442358493804932, 0.650225043296814, -1.7923628091812134, 0.927176296710968, 1.6252765655517578, -0.0022674796637147665, 0.0022674796637147665], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6799801588058472, -0.42896926403045654, 0.4076066315174103, 1.7843518257141113, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5399786233901978, -1.1457618474960327, 0.650225043296814, -1.7915998697280884, 0.9267948269844055, 1.6252765655517578, -0.00026438964414410293, 0.00026438964414410293], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6795986890792847, -0.42896926403045654, 0.4079881012439728, 1.7843518257141113, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5392156839370728, -1.1457618474960327, 0.650225043296814, -1.7919813394546509, 0.9260318875312805, 1.6252765655517578, -0.00020251880050636828, 0.00020251880050636828], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -0.42935073375701904, 0.4079881012439728, 1.7843518257141113, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5392156839370728, -1.1461433172225952, 0.6517509818077087, -1.7927442789077759, 0.926413357257843, 1.6252765655517578, -0.00020251880050636828, 0.00020251880050636828], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6784542798995972, -0.42935073375701904, 0.4076066315174103, 1.7847332954406738, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5392156839370728, -1.1427099704742432, 0.6548027992248535, -1.793125867843628, 0.9275577664375305, 1.6252765655517578, -0.00020251880050636828, 0.00020251880050636828], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6784542798995972, -0.42935073375701904, 0.4076066315174103, 1.7847332954406738, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5373083353042603, -1.119439959526062, 0.6639581918716431, -1.8038071393966675, 0.927176296710968, 1.6248950958251953, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6784542798995972, -0.42935073375701904, 0.4076066315174103, 1.7847332954406738, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5415045619010925, -1.0881589651107788, 0.6761654019355774, -1.799229383468628, 0.9275577664375305, 1.6248950958251953, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6784542798995972, -0.42935073375701904, 0.4076066315174103, 1.7851147651672363, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.54112309217453, -1.0568779706954956, 0.693331778049469, -1.796940565109253, 0.9287022352218628, 1.6245136260986328, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6784542798995972, -0.42935073375701904, 0.4076066315174103, 1.7851147651672363, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5399786233901978, -1.036659836769104, 0.7196536064147949, -1.7980849742889404, 0.9287022352218628, 1.6248950958251953, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6776912808418274, -0.42935073375701904, 0.4076066315174103, 1.7851147651672363, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5422675013542175, -1.0355154275894165, 0.7574197053909302, -1.7957961559295654, 0.9275577664375305, 1.6245136260986328, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6742580533027649, -0.42935073375701904, 0.4076066315174103, 1.7854963541030884, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.54264897108078, -1.0568779706954956, 0.8054856061935425, -1.7957961559295654, 0.924887478351593, 1.6153582334518433, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6723506450653076, -0.42935073375701904, 0.4076066315174103, 1.7854963541030884, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5430304408073425, -1.0919737815856934, 0.8546959757804871, -1.7957961559295654, 0.9016174674034119, 1.6012436151504517, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6692988276481628, -0.42935073375701904, 0.4079881012439728, 1.7854963541030884, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5449378490447998, -1.1419470310211182, 0.9107728600502014, -1.7950332164764404, 0.8646143078804016, 1.5867475271224976, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6685358881950378, -0.42935073375701904, 0.4091325104236603, 1.7854963541030884, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5449378490447998, -1.1987868547439575, 0.9714275002479553, -1.7923628091812134, 0.8310444951057434, 1.568818211555481, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6662470698356628, -0.42935073375701904, 0.40951400995254517, 1.7854963541030884, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5449378490447998, -1.2571526765823364, 1.031700611114502, -1.7915998697280884, 0.7970931529998779, 1.5501258373260498, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6620507836341858, -0.42935073375701904, 0.40951400995254517, 1.7854963541030884, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5449378490447998, -1.3197146654129028, 1.0919737815856934, -1.7893110513687134, 0.7681010365486145, 1.5321965217590332, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6605249047279358, -0.42935073375701904, 0.40951400995254517, 1.7854963541030884, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.54417484998703, -1.3818951845169067, 1.1522468328475952, -1.7622263431549072, 0.7417792081832886, 1.4940489530563354, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6582360863685608, -0.42935073375701904, 0.4091325104236603, 1.7854963541030884, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5380712747573853, -1.4448386430740356, 1.2113755941390991, -1.6882200241088867, 0.7192721366882324, 1.4333943128585815, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.42935073375701904, 0.4091325104236603, 1.7854963541030884, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.535400927066803, -1.506637692451477, 1.269359827041626, -1.6359578371047974, 0.7028687000274658, 1.3937208652496338, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6548027992248535, -0.42973220348358154, 0.4091325104236603, 1.7854963541030884, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5350194573402405, -1.568055272102356, 1.3216220140457153, -1.6065843105316162, 0.6944762468338013, 1.3696879148483276, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6521324515342712, -0.43163958191871643, 0.4068436622619629, 1.7854963541030884, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.534637987613678, -1.6256580352783203, 1.3658732175827026, -1.589417815208435, 0.690280020236969, 1.352521538734436, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6517509818077087, -0.4343098998069763, 0.4053177833557129, 1.7854963541030884, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.534637987613678, -1.6756312847137451, 1.4009689092636108, -1.576829195022583, 0.6849393248558044, 1.338788390159607, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6513695120811462, -0.4377431869506836, 0.404173344373703, 1.7854963541030884, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5342565178871155, -1.71950101852417, 1.4265278577804565, -1.5722514390945435, 0.6845578551292419, 1.3303959369659424, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6513695120811462, -0.44117647409439087, 0.404173344373703, 1.7854963541030884, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5327305793762207, -1.7530708312988281, 1.4452201128005981, -1.569581151008606, 0.6834134459495544, 1.3261997699737549, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6513695120811462, -0.44651713967323303, 0.4030289053916931, 1.7854963541030884, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5312047004699707, -1.7824444770812988, 1.4608606100082397, -1.566147804260254, 0.6834134459495544, 1.3220034837722778, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6513695120811462, -0.4510948359966278, 0.4003585875034332, 1.7854963541030884, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5300602912902832, -1.80571448802948, 1.4742122888565063, -1.5657663345336914, 0.6830319762229919, 1.3193331956863403, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6513695120811462, -0.4533836841583252, 0.3995956480503082, 1.7854963541030884, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5300602912902832, -1.820210576057434, 1.482604742050171, -1.565384864807129, 0.6818875670433044, 1.3193331956863403, -0.0015517149586230516, 0.0015517149586230516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6513695120811462, -0.4552910625934601, 0.39883267879486084, 1.7851147651672363, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5296788215637207, -1.8278400897979736, 1.487182378768921, -1.5650033950805664, 0.6837949156761169, 1.3197146654129028, -0.007528729736804962, 0.007528729736804962], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6513695120811462, -0.45643550157546997, 0.39883267879486084, 1.7851147651672363, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5292973518371582, -1.8293659687042236, 1.4932860136032104, -1.5627145767211914, 0.6956206560134888, 1.3277256488800049, -0.009845930151641369, 0.009845930151641369], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6513695120811462, -0.45681697130203247, 0.39883267879486084, 1.7851147651672363, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5270084738731384, -1.8259327411651611, 1.503204345703125, -1.5642404556274414, 0.7154573798179626, 1.339932918548584, -0.009853875264525414, 0.009853875264525414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6513695120811462, -0.45681697130203247, 0.39883267879486084, 1.7851147651672363, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5216678380966187, -1.8183032274246216, 1.5119783878326416, -1.573395848274231, 0.726138710975647, 1.355954885482788, -0.009853875264525414, 0.009853875264525414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6517509818077087, -0.45681697130203247, 0.39883267879486084, 1.7851147651672363, -0.15735866129398346, -2.0510032176971436, -3.426579860388301e-05, 3.426579860388301e-05, 0.5121309161186218, -1.814488410949707, 1.5157930850982666, -1.5817883014678955, 0.7372015118598938, 1.3658732175827026, -0.009853875264525414, 0.009853875264525414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.654421329498291, -0.45681697130203247, 0.39883267879486084, 1.7851147651672363, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.5006866455078125, -1.8110551834106445, 1.514648675918579, -1.5859845876693726, 0.7421606779098511, 1.3727397918701172, -0.009853875264525414, 0.009853875264525414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6582360863685608, -0.45681697130203247, 0.39883267879486084, 1.7851147651672363, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.49038681387901306, -1.8102922439575195, 1.5119783878326416, -1.5890363454818726, 0.7448310256004333, 1.3746471405029297, -0.009861822240054607, 0.009861822240054607], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6593804955482483, -0.45681697130203247, 0.39883267879486084, 1.7847332954406738, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.47779813408851624, -1.8102922439575195, 1.508926510810852, -1.5901808738708496, 0.7452124953269958, 1.3769359588623047, -0.009853875264525414, 0.009853875264525414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6601434350013733, -0.45681697130203247, 0.39883267879486084, 1.7847332954406738, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.4659723937511444, -1.809910774230957, 1.503204345703125, -1.5924696922302246, 0.7448310256004333, 1.3796063661575317, -0.009853875264525414, 0.009853875264525414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6601434350013733, -0.45719844102859497, 0.39883267879486084, 1.7847332954406738, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.4545281231403351, -1.8095293045043945, 1.495956301689148, -1.5924696922302246, 0.7398717999458313, 1.3799878358840942, -0.009853875264525414, 0.009853875264525414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6601434350013733, -0.45796138048171997, 0.39883267879486084, 1.7847332954406738, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.44689860939979553, -1.8095293045043945, 1.489089846611023, -1.5924696922302246, 0.7352941036224365, 1.3799878358840942, -0.009853875264525414, 0.009853875264525414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6582360863685608, -0.45834288001060486, 0.39883267879486084, 1.7843518257141113, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.44270238280296326, -1.8095293045043945, 1.481078863143921, -1.5924696922302246, 0.728427529335022, 1.3799878358840942, -0.009853875264525414, 0.009853875264525414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6578545570373535, -0.45948728919029236, 0.39883267879486084, 1.7843518257141113, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.4404135048389435, -1.8095293045043945, 1.4734493494033813, -1.5924696922302246, 0.7207980751991272, 1.3796063661575317, -0.009822113439440727, 0.009822113439440727], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.46025025844573975, 0.39883267879486084, 1.7843518257141113, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.440032035112381, -1.8095293045043945, 1.4662013053894043, -1.5924696922302246, 0.7120240926742554, 1.3796063661575317, -0.00963243655860424, 0.00963243655860424], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.46063172817230225, 0.39883267879486084, 1.7843518257141113, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.439269095659256, -1.8095293045043945, 1.4604791402816772, -1.5924696922302246, 0.7009612917900085, 1.3796063661575317, -0.009226772002875805, 0.009226772002875805], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.46215763688087463, 0.39883267879486084, 1.7843518257141113, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.438506156206131, -1.8095293045043945, 1.4543755054473877, -1.5924696922302246, 0.6929503083229065, 1.3796063661575317, -0.009211315773427486, 0.009211315773427486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.46292057633399963, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.4381246566772461, -1.8095293045043945, 1.4490348100662231, -1.5924696922302246, 0.6879911422729492, 1.3796063661575317, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.4640650153160095, 0.39883267879486084, 1.7843518257141113, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.4381246566772461, -1.809147834777832, 1.4444571733474731, -1.592088222503662, 0.6834134459495544, 1.3796063661575317, -0.008208087645471096, 0.008208087645471096], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.464446485042572, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.4377431869506836, -1.809147834777832, 1.440260887145996, -1.592088222503662, 0.6799801588058472, 1.3796063661575317, -0.0071914298459887505, 0.0071914298459887505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.4377431869506836, -1.809147834777832, 1.435683250427246, -1.592088222503662, 0.6788357496261597, 1.3796063661575317, -0.006409893278032541, 0.006409893278032541], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.4377431869506836, -1.8083847761154175, 1.431486964225769, -1.5917067527770996, 0.6750209927558899, 1.3796063661575317, -0.006146864499896765, 0.006146864499896765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.4377431869506836, -1.808003306388855, 1.427672266960144, -1.5897992849349976, 0.6719691753387451, 1.3796063661575317, -0.005540373269468546, 0.005540373269468546], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.4377431869506836, -1.808003306388855, 1.424238920211792, -1.589417815208435, 0.6692988276481628, 1.3796063661575317, -0.004710609093308449, 0.004710609093308449], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.4381246566772461, -1.8076218366622925, 1.4215686321258545, -1.5890363454818726, 0.6696802973747253, 1.3796063661575317, -0.0034136432223021984, 0.0034136432223021984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15735866129398346, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.4381246566772461, -1.8076218366622925, 1.419661283493042, -1.58865487575531, 0.6723506450653076, 1.3796063661575317, -0.0015940401935949922, 0.0015940401935949922], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.4381246566772461, -1.8076218366622925, 1.418898344039917, -1.58865487575531, 0.6731135845184326, 1.3796063661575317, -0.00030950616928748786, 0.00030950616928748786], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.655947208404541, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.4381246566772461, -1.8076218366622925, 1.4185168743133545, -1.5890363454818726, 0.6738765835762024, 1.3796063661575317, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.655947208404541, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.4381246566772461, -1.80724036693573, 1.4185168743133545, -1.589417815208435, 0.6754024624824524, 1.3796063661575317, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6555657386779785, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.4381246566772461, -1.8053330183029175, 1.4185168743133545, -1.5901808738708496, 0.6765468716621399, 1.3796063661575317, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.654421329498291, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.440032035112381, -1.7996108531951904, 1.4238574504852295, -1.5924696922302246, 0.6960021257400513, 1.3796063661575317, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6517509818077087, -0.4648279547691345, 0.39921414852142334, 1.7843518257141113, -0.15697719156742096, -2.0510032176971436, -3.095445572398603e-05, 3.095445572398603e-05, 0.44613564014434814, -1.7862592935562134, 1.432249903678894, -1.592851161956787, 0.6937133073806763, 1.3792248964309692, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.649462103843689, -0.4648279547691345, 0.3999771177768707, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.46101319789886475, -1.7690927982330322, 1.4383535385131836, -1.58865487575531, 0.6857023239135742, 1.3792248964309692, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6464102864265442, -0.4648279547691345, 0.4011215269565582, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.4800869822502136, -1.7469673156738281, 1.4414052963256836, -1.584840178489685, 0.6822690367698669, 1.3788433074951172, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6437399983406067, -0.4648279547691345, 0.4018844962120056, 1.7843518257141113, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5045014023780823, -1.723697304725647, 1.4391164779663086, -1.584840178489685, 0.6803616285324097, 1.3788433074951172, -0.0002264973591081798, 0.0002264973591081798], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6433585286140442, -0.4648279547691345, 0.4018844962120056, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5327305793762207, -1.7019531726837158, 1.437209129333496, -1.584840178489685, 0.6754024624824524, 1.3784618377685547, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6418325901031494, -0.4648279547691345, 0.4018844962120056, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5636301040649414, -1.6897459030151367, 1.4353017807006836, -1.5810253620147705, 0.6712062358856201, 1.3776988983154297, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.4648279547691345, 0.4007400572299957, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5937666893005371, -1.6809719800949097, 1.434157371520996, -1.5779736042022705, 0.655184268951416, 1.3769359588623047, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.4648279547691345, 0.3999771177768707, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.6166552305221558, -1.6767758131027222, 1.4353017807006836, -1.5787365436553955, 0.6441214680671692, 1.3765544891357422, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.4648279547691345, 0.3995956480503082, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.6380178332328796, -1.6744868755340576, 1.434920310974121, -1.581406831741333, 0.6372548937797546, 1.3765544891357422, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.4648279547691345, 0.3995956480503082, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.657473087310791, -1.6721980571746826, 1.428435206413269, -1.5810253620147705, 0.6277180314064026, 1.3769359588623047, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.4648279547691345, 0.39921414852142334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.6754024624824524, -1.6710536479949951, 1.4150835275650024, -1.5810253620147705, 0.6277180314064026, 1.3765544891357422, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.4648279547691345, 0.39921414852142334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.6876096725463867, -1.6695277690887451, 1.3971542119979858, -1.5810253620147705, 0.6250476837158203, 1.3750286102294922, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.4648279547691345, 0.39883267879486084, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.6979095339775085, -1.6664758920669556, 1.3757915496826172, -1.580643892288208, 0.6254291534423828, 1.3723583221435547, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.4648279547691345, 0.39806973934173584, 1.7843518257141113, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.7036316394805908, -1.663042664527893, 1.3551918268203735, -1.577592134475708, 0.6280995011329651, 1.3727397918701172, -0.0027812125626951456, 0.0027812125626951456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.7059205174446106, -1.659609317779541, 1.3483253717422485, -1.577592134475708, 0.6467918157577515, 1.3773174285888672, -0.01060418225824833, 0.01060418225824833], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.7024872303009033, -1.6577019691467285, 1.350232720375061, -1.58560311794281, 0.6769283413887024, 1.4070725440979004, -0.010571448132395744, 0.010571448132395744], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.6876096725463867, -1.6561760902404785, 1.354810357093811, -1.6004806756973267, 0.697528064250946, 1.434157371520996, -0.010571448132395744, 0.010571448132395744], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6418325901031494, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.6700618267059326, -1.6569390296936035, 1.3578622341156006, -1.6084916591644287, 0.7120240926742554, 1.4581903219223022, -0.010571448132395744, 0.010571448132395744], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6433585286140442, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.6498435735702515, -1.665331482887268, 1.3635843992233276, -1.6172655820846558, 0.7185091972351074, 1.4765011072158813, -0.010571448132395744, 0.010571448132395744], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6437399983406067, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.6284809708595276, -1.6790646314620972, 1.3742656707763672, -1.6241321563720703, 0.7227054238319397, 1.4955748319625854, -0.010571448132395744, 0.010571448132395744], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6445029377937317, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.6116960644721985, -1.6950865983963013, 1.3872358798980713, -1.6275653839111328, 0.726901650428772, 1.513122797012329, -0.010571448132395744, 0.010571448132395744], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6452658772468567, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.6040665507316589, -1.7118715047836304, 1.402876377105713, -1.6336690187454224, 0.727664589881897, 1.5272372961044312, -0.010571448132395744, 0.010571448132395744], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6452658772468567, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5998703241348267, -1.7286564111709595, 1.419661283493042, -1.6306172609329224, 0.7299534678459167, 1.5432593822479248, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6452658772468567, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5952925682067871, -1.745059847831726, 1.437209129333496, -1.6313802003860474, 0.7291905283927917, 1.560807228088379, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6452658772468567, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5918593406677246, -1.7607003450393677, 1.4536125659942627, -1.6344319581985474, 0.7288090586662292, 1.5772106647491455, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6452658772468567, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5930037498474121, -1.7763408422470093, 1.4696345329284668, -1.6340504884719849, 0.7291905283927917, 1.5917067527770996, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6456473469734192, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5937666893005371, -1.7904554605484009, 1.482604742050171, -1.6332875490188599, 0.7288090586662292, 1.5989547967910767, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6460288166999817, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5918593406677246, -1.8045700788497925, 1.4932860136032104, -1.6321431398391724, 0.7291905283927917, 1.6050583124160767, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6467918157577515, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5910963416099548, -1.8175402879714966, 1.50091552734375, -1.6340504884719849, 0.7288090586662292, 1.6092545986175537, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6467918157577515, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5907148718833923, -1.8278400897979736, 1.507400631904602, -1.6336690187454224, 0.7288090586662292, 1.6100175380706787, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6467918157577515, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5907148718833923, -1.8373769521713257, 1.5142672061920166, -1.6332875490188599, 0.7288090586662292, 1.6134508848190308, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6467918157577515, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5910963416099548, -1.8434805870056152, 1.5199893712997437, -1.6325246095657349, 0.728427529335022, 1.6134508848190308, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6456473469734192, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5899519324302673, -1.8469138145446777, 1.5245670080184937, -1.6313802003860474, 0.7288090586662292, 1.6134508848190308, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6452658772468567, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5861371755599976, -1.8503471612930298, 1.5268558263778687, -1.6309987306594849, 0.727664589881897, 1.6134508848190308, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6448844075202942, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5819409489631653, -1.8518730401992798, 1.5283818244934082, -1.6313802003860474, 0.7272831201553345, 1.6134508848190308, -0.010579627007246017, 0.010579627007246017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6445029377937317, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5781261920928955, -1.8541618585586548, 1.5280003547668457, -1.6317616701126099, 0.7272831201553345, 1.6134508848190308, -0.01056327112019062, 0.01056327112019062], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6445029377937317, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5743114352226257, -1.8553062677383423, 1.5268558263778687, -1.6325246095657349, 0.7257572412490845, 1.6134508848190308, -0.01055509690195322, 0.01055509690195322], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6441214680671692, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5724040865898132, -1.8564507961273193, 1.5234225988388062, -1.6336690187454224, 0.7238498330116272, 1.6134508848190308, -0.010546925477683544, 0.010546925477683544], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6437399983406067, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5724040865898132, -1.8575952053070068, 1.5203708410263062, -1.6332875490188599, 0.7173647880554199, 1.6134508848190308, -0.010109493508934975, 0.010109493508934975], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6433585286140442, -0.4648279547691345, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5716410875320435, -1.8583581447601318, 1.5173189640045166, -1.6332875490188599, 0.7135500311851501, 1.6134508848190308, -0.009257717058062553, 0.009257717058062553], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6429770588874817, -0.465209424495697, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.571259617805481, -1.8583581447601318, 1.5150301456451416, -1.6329060792922974, 0.7104982137680054, 1.6134508848190308, -0.0089044738560915, 0.0089044738560915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6425955891609192, -0.465209424495697, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.571259617805481, -1.8583581447601318, 1.5135042667388916, -1.6329060792922974, 0.7085908055305481, 1.6134508848190308, -0.008699833415448666, 0.008699833415448666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -0.465209424495697, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.571259617805481, -1.8583581447601318, 1.512359857559204, -1.6309987306594849, 0.7074463963508606, 1.6134508848190308, -0.007901477627456188, 0.007901477627456188], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -0.465209424495697, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.572022557258606, -1.8583581447601318, 1.511215329170227, -1.6309987306594849, 0.7066834568977356, 1.6134508848190308, -0.006847016513347626, 0.006847016513347626], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -0.465209424495697, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5716410875320435, -1.8583581447601318, 1.5100709199905396, -1.6309987306594849, 0.7059205174446106, 1.6134508848190308, -0.005991228856146336, 0.005991228856146336], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -0.465209424495697, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5716410875320435, -1.8583581447601318, 1.508163571357727, -1.6309987306594849, 0.7036316394805908, 1.6134508848190308, -0.00476939557120204, 0.00476939557120204], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -0.465209424495697, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5716410875320435, -1.8583581447601318, 1.5054932832717896, -1.6309987306594849, 0.7013428211212158, 1.6134508848190308, -0.0031201462261378765, 0.0031201462261378765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -0.465209424495697, 0.39768826961517334, 1.7839703559875488, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.571259617805481, -1.8579766750335693, 1.5020599365234375, -1.6313802003860474, 0.6994354128837585, 1.6134508848190308, -0.00036905461456626654, 0.00036905461456626654], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -0.465209424495697, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.571259617805481, -1.8575952053070068, 1.500152587890625, -1.6344319581985474, 0.700579822063446, 1.6134508848190308, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -0.465209424495697, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.571259617805481, -1.8575952053070068, 1.5012969970703125, -1.6344319581985474, 0.7036316394805908, 1.6134508848190308, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -0.465209424495697, 0.39768826961517334, 1.7839703559875488, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5708781480789185, -1.8526359796524048, 1.5028228759765625, -1.638246774673462, 0.7120240926742554, 1.6134508848190308, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6425955891609192, -0.465209424495697, 0.39768826961517334, 1.7843518257141113, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5701152086257935, -1.8362325429916382, 1.5005340576171875, -1.641298532485962, 0.7234683632850647, 1.6134508848190308, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6437399983406067, -0.465209424495697, 0.39768826961517334, 1.7843518257141113, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5701152086257935, -1.8053330183029175, 1.488326907157898, -1.6416800022125244, 0.7089722752571106, 1.6134508848190308, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6464102864265442, -0.465209424495697, 0.39806973934173584, 1.7839703559875488, -0.15735866129398346, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5746929049491882, -1.7660410404205322, 1.4604791402816772, -1.638246774673462, 0.6864652633666992, 1.6130692958831787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6525139212608337, -0.465209424495697, 0.4003585875034332, 1.7839703559875488, -0.15697719156742096, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5781261920928955, -1.7221713066101074, 1.427672266960144, -1.6348134279251099, 0.6609063744544983, 1.6130692958831787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6658655405044556, -0.465209424495697, 0.4079881012439728, 1.7843518257141113, -0.16193637251853943, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5807965397834778, -1.6775387525558472, 1.3963912725448608, -1.6348134279251099, 0.6410696506500244, 1.6130692958831787, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6853207945823669, -0.4659723937511444, 0.41561761498451233, 1.7839703559875488, -0.17986571788787842, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5857557058334351, -1.6317616701126099, 1.362821340560913, -1.6336690187454224, 0.6315327882766724, 1.6134508848190308, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7143129706382751, -0.4671168029308319, 0.42591744661331177, 1.7839703559875488, -0.1962691694498062, -2.051384687423706, -3.095445572398603e-05, 3.095445572398603e-05, 0.5918593406677246, -1.5836957693099976, 1.3315403461456299, -1.6290913820266724, 0.6174181699752808, 1.6130692958831787, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7520790696144104, -0.4728389382362366, 0.44804301857948303, 1.7843518257141113, -0.25158312916755676, -2.0441367626190186, -3.095445572398603e-05, 3.095445572398603e-05, 0.5926222801208496, -1.5417333841323853, 1.3017853498458862, -1.6218433380126953, 0.6170367002487183, 1.6134508848190308, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7970931529998779, -0.4800869822502136, 0.47665369510650635, 1.7996108531951904, -0.3278782367706299, -2.023918628692627, -3.095445572398603e-05, 3.095445572398603e-05, 0.5918593406677246, -1.508163571357727, 1.27927827835083, -1.6153582334518433, 0.6113145351409912, 1.6134508848190308, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8329518437385559, -0.5037384629249573, 0.5170900821685791, 1.7950332164764404, -0.4037918746471405, -1.954108476638794, -3.095445572398603e-05, 3.095445572398603e-05, 0.5960555672645569, -1.485656499862671, 1.262493371963501, -1.6031509637832642, 0.6101701259613037, 1.6134508848190308, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8569847941398621, -0.5617227554321289, 0.5724040865898132, 1.7816815376281738, -0.5025940537452698, -1.8701838254928589, -3.095445572398603e-05, 3.095445572398603e-05, 0.5979629158973694, -1.4711604118347168, 1.2472343444824219, -1.5955214500427246, 0.6097886562347412, 1.6130692958831787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8344777822494507, -0.6395437717437744, 0.6307697892189026, 1.6603723764419556, -0.6094071865081787, -1.6866941452026367, -3.095445572398603e-05, 3.095445572398603e-05, 0.5964370369911194, -1.4620050191879272, 1.2365529537200928, -1.5932326316833496, 0.6094071865081787, 1.6123063564300537, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.7219424843788147, 0.6715877056121826, 1.4337759017944336, -0.7021057605743408, -1.420424222946167, -3.095445572398603e-05, 3.095445572398603e-05, 0.5956740379333496, -1.4570459127426147, 1.2289234399795532, -1.592851161956787, 0.6090257167816162, 1.6008621454238892, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.76276034116745, -0.8062485456466675, 0.7104982137680054, 1.280041217803955, -0.7806897163391113, -1.19916832447052, -3.426579860388301e-05, 3.426579860388301e-05, 0.5971999764442444, -1.4543755054473877, 1.2247272729873657, -1.5924696922302246, 0.6074998378753662, 1.5901808738708496, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7536049485206604, -0.8844510316848755, 0.7402533292770386, 1.195353627204895, -0.8264667987823486, -1.0149157047271729, -3.095445572398603e-05, 3.095445572398603e-05, 0.5983443856239319, -1.4520866870880127, 1.2232013940811157, -1.5917067527770996, 0.6071183085441589, 1.579118013381958, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7536049485206604, -0.9584572911262512, 0.767719566822052, 1.1404211521148682, -0.8566033244132996, -0.8638513684272766, -3.095445572398603e-05, 3.095445572398603e-05, 0.5979629158973694, -1.4520866870880127, 1.2228199243545532, -1.5901808738708496, 0.6059738993644714, 1.571869969367981, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7524605393409729, -1.0149157047271729, 0.7890821695327759, 1.116388201713562, -0.8657587766647339, -0.7501716613769531, -3.095445572398603e-05, 3.095445572398603e-05, 0.5979629158973694, -1.4517052173614502, 1.2228199243545532, -1.5897992849349976, 0.6029220819473267, 1.5676738023757935, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7589455842971802, -1.0561150312423706, 0.8016708493232727, 1.0984588861465454, -0.8527885675430298, -0.6498435735702515, -3.095445572398603e-05, 3.095445572398603e-05, 0.5979629158973694, -1.4517052173614502, 1.2212939262390137, -1.589417815208435, 0.5971999764442444, 1.564621925354004, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.768482506275177, -1.0835813283920288, 0.8093003630638123, 1.0881589651107788, -0.8180742859840393, -0.5838482975959778, -3.095445572398603e-05, 3.095445572398603e-05, 0.5979629158973694, -1.4517052173614502, 1.2197680473327637, -1.5897992849349976, 0.5888075232505798, 1.5642404556274414, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.776493489742279, -1.1057069301605225, 0.8154039978981018, 1.0831998586654663, -0.7936598658561707, -0.5460822582244873, -3.095445572398603e-05, 3.095445572398603e-05, 0.5983443856239319, -1.4517052173614502, 1.2193865776062012, -1.5897992849349976, 0.5834668278694153, 1.5634775161743164, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7825970649719238, -1.1224918365478516, 0.8180742859840393, 1.0793850421905518, -0.7799267768859863, -0.5243381261825562, -3.095445572398603e-05, 3.095445572398603e-05, 0.5979629158973694, -1.4517052173614502, 1.2190051078796387, -1.5897992849349976, 0.578507661819458, 1.563096046447754, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -1.1373693943023682, 0.8203631639480591, 1.0774776935577393, -0.7734416723251343, -0.5235751867294312, -0.0027372571639716625, 0.0027372571639716625, 0.5979629158973694, -1.4517052173614502, 1.2190051078796387, -1.5897992849349976, 0.5750743746757507, 1.560807228088379, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7879377603530884, -1.1484321355819702, 0.8230335116386414, 1.0763332843780518, -0.7688639760017395, -0.5491340756416321, -0.005971889942884445, 0.005971889942884445, 0.5979629158973694, -1.4517052173614502, 1.2174792289733887, -1.5897992849349976, 0.5750743746757507, 1.560807228088379, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7909895181655884, -1.1575875282287598, 0.8241779208183289, 1.0763332843780518, -0.7665750980377197, -0.568970799446106, -0.012058168649673462, 0.012058168649673462, 0.5979629158973694, -1.4517052173614502, 1.2174792289733887, -1.5897992849349976, 0.5724040865898132, 1.560807228088379, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7906080484390259, -1.1686503887176514, 0.8249408602714539, 1.0759518146514893, -0.7650492191314697, -0.578507661819458, -0.014125918038189411, 0.014125918038189411, 0.5979629158973694, -1.4517052173614502, 1.2174792289733887, -1.5897992849349976, 0.5716410875320435, 1.560807228088379, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7887006998062134, -1.1884870529174805, 0.8321889042854309, 1.0793850421905518, -0.7650492191314697, -0.6055924296379089, -0.014107683673501015, 0.014107683673501015, 0.5979629158973694, -1.4517052173614502, 1.2174792289733887, -1.5897992849349976, 0.570496678352356, 1.560807228088379, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7841230034828186, -1.2273975610733032, 0.8566033244132996, 1.0919737815856934, -0.7955672740936279, -0.6380178332328796, -0.013197368942201138, 0.013197368942201138, 0.5979629158973694, -1.4517052173614502, 1.2170977592468262, -1.5897992849349976, 0.5678263306617737, 1.5611886978149414, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7810711860656738, -1.2682154178619385, 0.881780743598938, 1.101892113685608, -0.8340963125228882, -0.6578545570373535, -0.013215187937021255, 0.013215187937021255, 0.5979629158973694, -1.4517052173614502, 1.2170977592468262, -1.5897992849349976, 0.5655375123023987, 1.560807228088379, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7803082466125488, -1.3021668195724487, 0.9019989371299744, 1.114099383354187, -0.8581292629241943, -0.6692988276481628, -0.0132241016253829, 0.0132241016253829, 0.5979629158973694, -1.4517052173614502, 1.2170977592468262, -1.5897992849349976, 0.5647745728492737, 1.5611886978149414, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.776493489742279, -1.3292515277862549, 0.9180209040641785, 1.125925064086914, -0.8707179427146912, -0.6761654019355774, -0.013241933658719063, 0.013241933658719063, 0.5979629158973694, -1.4517052173614502, 1.2170977592468262, -1.5897992849349976, 0.5647745728492737, 1.5611886978149414, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7745860815048218, -1.350232720375061, 0.9313725233078003, 1.1350804567337036, -0.8779659867286682, -0.6799801588058472, -0.01375368982553482, 0.01375368982553482, 0.5979629158973694, -1.4517052173614502, 1.2170977592468262, -1.5897992849349976, 0.5643930435180664, 1.5611886978149414, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7745860815048218, -1.3677805662155151, 0.9431982636451721, 1.1411840915679932, -0.8848325610160828, -0.6807430982589722, -0.014125918038189411, 0.014125918038189411, 0.5979629158973694, -1.4517052173614502, 1.2170977592468262, -1.5897992849349976, 0.5643930435180664, 1.5611886978149414, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7719157934188843, -1.3815137147903442, 0.9515907764434814, 1.1446174383163452, -0.8859769701957703, -0.6830319762229919, -0.014125918038189411, 0.014125918038189411, 0.5979629158973694, -1.4517052173614502, 1.2163348197937012, -1.5897992849349976, 0.5643930435180664, 1.5611886978149414, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.770008385181427, -1.3921949863433838, 0.9573128819465637, 1.1480506658554077, -0.8863584399223328, -0.6830319762229919, -0.014125918038189411, 0.014125918038189411, 0.5979629158973694, -1.4517052173614502, 1.2163348197937012, -1.5897992849349976, 0.5643930435180664, 1.5611886978149414, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -1.4009689092636108, 0.960746169090271, 1.1480506658554077, -0.8878843188285828, -0.6830319762229919, -0.014125918038189411, 0.014125918038189411, 0.5979629158973694, -1.4517052173614502, 1.2163348197937012, -1.5897992849349976, 0.5643930435180664, 1.5611886978149414, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -1.407454013824463, 0.9626535177230835, 1.1484321355819702, -0.8844510316848755, -0.6834134459495544, -0.014125918038189411, 0.014125918038189411, 0.5979629158973694, -1.4517052173614502, 1.2163348197937012, -1.5897992849349976, 0.5640115737915039, 1.561570167541504, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7631418108940125, -1.41317617893219, 0.9637979865074158, 1.1488136053085327, -0.8760585784912109, -0.6834134459495544, -0.014125918038189411, 0.014125918038189411, 0.5979629158973694, -1.4517052173614502, 1.2163348197937012, -1.589417815208435, 0.5640115737915039, 1.561570167541504, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7616159319877625, -1.4200427532196045, 0.9653238654136658, 1.1484321355819702, -0.8672846555709839, -0.6837949156761169, -0.014125918038189411, 0.014125918038189411, 0.5979629158973694, -1.4517052173614502, 1.2163348197937012, -1.5890363454818726, 0.5640115737915039, 1.561570167541504, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7600900530815125, -1.4288166761398315, 0.9668498039245605, 1.1484321355819702, -0.8619440197944641, -0.6837949156761169, -0.014116799458861351, 0.014116799458861351, 0.5979629158973694, -1.4517052173614502, 1.2163348197937012, -1.587891936302185, 0.5640115737915039, 1.561570167541504, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7589455842971802, -1.437972068786621, 0.967231273651123, 1.1484321355819702, -0.8604180812835693, -0.6837949156761169, -0.014116799458861351, 0.014116799458861351, 0.5979629158973694, -1.4517052173614502, 1.2155718803405762, -1.584840178489685, 0.5643930435180664, 1.561570167541504, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7574197053909302, -1.4444571733474731, 0.967231273651123, 1.1488136053085327, -0.8573662638664246, -0.6837949156761169, -0.014116799458861351, 0.014116799458861351, 0.5979629158973694, -1.4517052173614502, 1.2155718803405762, -1.5810253620147705, 0.5640115737915039, 1.561570167541504, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -1.4490348100662231, 0.967231273651123, 1.1484321355819702, -0.8524070978164673, -0.6841763854026794, -0.014107683673501015, 0.014107683673501015, 0.5979629158973694, -1.4517052173614502, 1.2155718803405762, -1.580643892288208, 0.5643930435180664, 1.561570167541504, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7555122971534729, -1.4513237476348877, 0.9676127433776855, 1.1488136053085327, -0.848210871219635, -0.6841763854026794, -0.014107683673501015, 0.014107683673501015, 0.5979629158973694, -1.4517052173614502, 1.2151904106140137, -1.579880952835083, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7543678879737854, -1.4532310962677002, 0.967994213104248, 1.1484321355819702, -0.8413442969322205, -0.6841763854026794, -0.014107683673501015, 0.014107683673501015, 0.5979629158973694, -1.4517052173614502, 1.2151904106140137, -1.577592134475708, 0.5643930435180664, 1.561570167541504, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7536049485206604, -1.4539940357208252, 0.967994213104248, 1.1488136053085327, -0.8382925391197205, -0.6841763854026794, -0.014107683673501015, 0.014107683673501015, 0.5979629158973694, -1.4517052173614502, 1.2151904106140137, -1.577592134475708, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7516975402832031, -1.4551384449005127, 0.967994213104248, 1.1488136053085327, -0.837911069393158, -0.6841763854026794, -0.014098568819463253, 0.014098568819463253, 0.5979629158973694, -1.4517052173614502, 1.2148088216781616, -1.577592134475708, 0.5643930435180664, 1.561570167541504, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7494087219238281, -1.4566643238067627, 0.969520092010498, 1.1488136053085327, -0.8344777822494507, -0.6841763854026794, -0.014098568819463253, 0.014098568819463253, 0.5979629158973694, -1.4517052173614502, 1.2148088216781616, -1.577592134475708, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7494087219238281, -1.4585717916488647, 0.970283031463623, 1.1488136053085327, -0.8344777822494507, -0.6841763854026794, -0.014107683673501015, 0.014107683673501015, 0.5975814461708069, -1.4517052173614502, 1.2148088216781616, -1.577592134475708, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7497901916503906, -1.4608606100082397, 0.9710460305213928, 1.1488136053085327, -0.8344777822494507, -0.6841763854026794, -0.014547470957040787, 0.014547470957040787, 0.5975814461708069, -1.4517052173614502, 1.2148088216781616, -1.5779736042022705, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7497901916503906, -1.4620050191879272, 0.9714275002479553, 1.1488136053085327, -0.8344777822494507, -0.6841763854026794, -0.015168530866503716, 0.015168530866503716, 0.5971999764442444, -1.4517052173614502, 1.2148088216781616, -1.5779736042022705, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7497901916503906, -1.4631494283676147, 0.9718089699745178, 1.1488136053085327, -0.8340963125228882, -0.6841763854026794, -0.015580691397190094, 0.015580691397190094, 0.5971999764442444, -1.4517052173614502, 1.2148088216781616, -1.577592134475708, 0.5647745728492737, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7497901916503906, -1.4631494283676147, 0.9718089699745178, 1.1488136053085327, -0.8340963125228882, -0.6841763854026794, -0.015552484430372715, 0.015552484430372715, 0.5971999764442444, -1.4517052173614502, 1.2148088216781616, -1.5779736042022705, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7497901916503906, -1.4631494283676147, 0.9718089699745178, 1.1488136053085327, -0.8340963125228882, -0.6841763854026794, -0.015271260403096676, 0.015271260403096676, 0.5971999764442444, -1.4517052173614502, 1.2151904106140137, -1.5779736042022705, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7516975402832031, -1.4635308980941772, 0.9710460305213928, 1.1488136053085327, -0.8337147831916809, -0.6841763854026794, -0.015271260403096676, 0.015271260403096676, 0.5971999764442444, -1.4520866870880127, 1.2155718803405762, -1.5779736042022705, 0.5643930435180664, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7536049485206604, -1.4639123678207397, 0.9710460305213928, 1.1491950750350952, -0.8325703740119934, -0.6841763854026794, -0.014492255635559559, 0.014492255635559559, 0.5971999764442444, -1.4520866870880127, 1.2155718803405762, -1.5779736042022705, 0.5643930435180664, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7547493577003479, -1.4654383659362793, 0.970283031463623, 1.1491950750350952, -0.8299000263214111, -0.6841763854026794, -0.012135792523622513, 0.012135792523622513, 0.5971999764442444, -1.4520866870880127, 1.2155718803405762, -1.5779736042022705, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7551308274269104, -1.4662013053894043, 0.9691386222839355, 1.1488136053085327, -0.8272297382354736, -0.6837949156761169, -0.011141798458993435, 0.011141798458993435, 0.5971999764442444, -1.4520866870880127, 1.2155718803405762, -1.5779736042022705, 0.5647745728492737, 1.561570167541504, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7551308274269104, -1.4677271842956543, 0.967994213104248, 1.1484321355819702, -0.8264667987823486, -0.6837949156761169, -0.010571448132395744, 0.010571448132395744, 0.5971999764442444, -1.4520866870880127, 1.2155718803405762, -1.5779736042022705, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7555122971534729, -1.4684901237487793, 0.9668498039245605, 1.1484321355819702, -0.8253223299980164, -0.6834134459495544, -0.010392150841653347, 0.010392150841653347, 0.5971999764442444, -1.4520866870880127, 1.2155718803405762, -1.5779736042022705, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, -1.4700160026550293, 0.9660868048667908, 1.1488136053085327, -0.8211261034011841, -0.6834134459495544, -0.00827443040907383, 0.00827443040907383, 0.5971999764442444, -1.4520866870880127, 1.2155718803405762, -1.5779736042022705, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7578011751174927, -1.4711604118347168, 0.9657053351402283, 1.1499580144882202, -0.8192187547683716, -0.6834134459495544, -0.006819769274443388, 0.006819769274443388, 0.5971999764442444, -1.4520866870880127, 1.2155718803405762, -1.5779736042022705, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7600900530815125, -1.4715418815612793, 0.9645609259605408, 1.1518653631210327, -0.8157854676246643, -0.6834134459495544, -0.0024354138877242804, 0.0024354138877242804, 0.5968185067176819, -1.4520866870880127, 1.2155718803405762, -1.578355073928833, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.763523280620575, -1.4715418815612793, 0.9618905782699585, 1.1518653631210327, -0.8157854676246643, -0.6834134459495544, -0.0003374511143192649, 0.0003374511143192649, 0.5968185067176819, -1.4520866870880127, 1.2155718803405762, -1.578355073928833, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7673380374908447, -1.4711604118347168, 0.9596017599105835, 1.1518653631210327, -0.8169298768043518, -0.6834134459495544, -0.00032346139778383076, 0.00032346139778383076, 0.5964370369911194, -1.4520866870880127, 1.2148088216781616, -1.578355073928833, 0.5643930435180664, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.770008385181427, -1.4711604118347168, 0.9584572911262512, 1.1518653631210327, -0.8218890428543091, -0.6834134459495544, -0.0003269556036684662, 0.0003269556036684662, 0.5960555672645569, -1.4520866870880127, 1.2136644124984741, -1.578355073928833, 0.5647745728492737, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7722972631454468, -1.4700160026550293, 0.9573128819465637, 1.1514838933944702, -0.8230335116386414, -0.6834134459495544, -0.00032346139778383076, 0.00032346139778383076, 0.5949110984802246, -1.4520866870880127, 1.2136644124984741, -1.578355073928833, 0.5643930435180664, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7722972631454468, -1.4639123678207397, 0.9557870030403137, 1.1511024236679077, -0.8260852694511414, -0.6834134459495544, -0.00032346139778383076, 0.00032346139778383076, 0.5926222801208496, -1.4517052173614502, 1.2140458822250366, -1.5810253620147705, 0.5643930435180664, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7681010365486145, -1.4497978687286377, 0.9523537158966064, 1.1446174383163452, -0.8649957776069641, -0.6837949156761169, -0.00032346139778383076, 0.00032346139778383076, 0.5895704627037048, -1.4486533403396606, 1.2151904106140137, -1.5810253620147705, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7551308274269104, -1.4318684339523315, 0.9557870030403137, 1.1446174383163452, -0.848210871219635, -0.6837949156761169, -0.00032346139778383076, 0.00032346139778383076, 0.5853742361068726, -1.4436942338943481, 1.2170977592468262, -1.5817883014678955, 0.5651560425758362, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7364385724067688, -1.4173723459243774, 0.9576943516731262, 1.1514838933944702, -0.8424887657165527, -0.6841763854026794, -0.00032346139778383076, 0.00032346139778383076, 0.578507661819458, -1.4360647201538086, 1.2174792289733887, -1.5859845876693726, 0.5643930435180664, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7207980751991272, -1.4013503789901733, 0.9618905782699585, 1.1480506658554077, -0.837911069393158, -0.6841763854026794, -0.00032346139778383076, 0.00032346139778383076, 0.5731670260429382, -1.4230945110321045, 1.2170977592468262, -1.592851161956787, 0.5643930435180664, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7017242908477783, -1.3807507753372192, 0.9660868048667908, 1.1488136053085327, -0.8310444951057434, -0.6841763854026794, -0.00032346139778383076, 0.00032346139778383076, 0.5651560425758362, -1.4055466651916504, 1.2129014730453491, -1.6004806756973267, 0.5651560425758362, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6857023239135742, -1.3536659479141235, 0.9683756828308105, 1.1491950750350952, -0.8310444951057434, -0.6841763854026794, -0.00032346139778383076, 0.00032346139778383076, 0.5518043637275696, -1.3815137147903442, 1.2079423666000366, -1.6084916591644287, 0.5647745728492737, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6647211313247681, -1.3216220140457153, 0.9691386222839355, 1.1488136053085327, -0.8310444951057434, -0.6841763854026794, -0.00032346139778383076, 0.00032346139778383076, 0.5331120491027832, -1.351758599281311, 1.201838731765747, -1.6153582334518433, 0.5643930435180664, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6425955891609192, -1.2861448526382446, 0.9668498039245605, 1.1491950750350952, -0.8299000263214111, -0.6845578551292419, -0.00032346139778383076, 0.00032346139778383076, 0.5106050372123718, -1.3139925003051758, 1.185816764831543, -1.6161211729049683, 0.5548561811447144, 1.562333106994629, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6231403350830078, -1.2468528747558594, 0.959983229637146, 1.1476691961288452, -0.8295185565948486, -0.6872282028198242, -0.00032346139778383076, 0.00032346139778383076, 0.4877164959907532, -1.272030234336853, 1.1594948768615723, -1.6191729307174683, 0.5270084738731384, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6002517938613892, -1.2060348987579346, 0.9481574892997742, 1.1488136053085327, -0.8295185565948486, -0.6956206560134888, -0.00032346139778383076, 0.00032346139778383076, 0.4659723937511444, -1.2251087427139282, 1.123636245727539, -1.6191729307174683, 0.4850461483001709, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5846112966537476, -1.1648355722427368, 0.9309910535812378, 1.1488136053085327, -0.8260852694511414, -0.7097352743148804, -0.00032346139778383076, 0.00032346139778383076, 0.44804301857948303, -1.1747539043426514, 1.0774776935577393, -1.6195544004440308, 0.43011367321014404, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5659189820289612, -1.118677020072937, 0.9065766334533691, 1.1488136053085327, -0.7963302135467529, -0.7352941036224365, -0.00032346139778383076, 0.00032346139778383076, 0.4343098998069763, -1.123636245727539, 1.025978446006775, -1.6195544004440308, 0.3599221706390381, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5506599545478821, -1.0816738605499268, 0.8894102573394775, 1.1484321355819702, -0.777256429195404, -0.7661936283111572, -0.00032346139778383076, 0.00032346139778383076, 0.421339750289917, -1.0763332843780518, 0.9763866662979126, -1.6203173398971558, 0.2924010157585144, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5376898050308228, -1.0488669872283936, 0.8733882904052734, 1.1469062566757202, -0.7593270540237427, -0.80357825756073, -0.00032346139778383076, 0.00032346139778383076, 0.4064621925354004, -1.037422776222229, 0.9378576278686523, -1.6229877471923828, 0.23403525352478027, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5182345509529114, -1.0095750093460083, 0.8478294014930725, 1.1465247869491577, -0.7070649266242981, -0.8558403849601746, -0.00032346139778383076, 0.00032346139778383076, 0.3912031650543213, -1.0061417818069458, 0.9115357995033264, -1.6298543214797974, 0.19512474536895752, 1.5619516372680664, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49305713176727295, -0.9706645011901855, 0.8230335116386414, 1.1442358493804932, -0.656710147857666, -0.9058136940002441, -0.00032346139778383076, 0.00032346139778383076, 0.3736552894115448, -0.9824903011322021, 0.8951323628425598, -1.639009714126587, 0.17376211285591125, 1.561570167541504, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.45834288001060486, -0.9363317489624023, 0.802815318107605, 1.1446174383163452, -0.621614396572113, -0.9485389590263367, -0.00032346139778383076, 0.00032346139778383076, 0.35076677799224854, -0.9630350470542908, 0.8848325610160828, -1.6474021673202515, 0.15926603972911835, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41561761498451233, -0.8989471197128296, 0.7803082466125488, 1.1446174383163452, -0.5853742361068726, -0.9927901029586792, -0.00032346139778383076, 0.00032346139778383076, 0.3274967670440674, -0.9496833682060242, 0.8802548050880432, -1.6592278480529785, 0.1527809500694275, 1.561570167541504, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36411839723587036, -0.8554589152336121, 0.7516975402832031, 1.1446174383163452, -0.536163866519928, -1.0473411083221436, -0.00032346139778383076, 0.00032346139778383076, 0.30079346895217896, -0.9416723847389221, 0.8764400482177734, -1.666857361793518, 0.14667734503746033, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3072785437107086, -0.810826301574707, 0.7234683632850647, 1.1449989080429077, -0.4854276478290558, -1.0984588861465454, -0.00032346139778383076, 0.00032346139778383076, 0.2767605185508728, -0.9367132186889648, 0.8741512298583984, -1.6771572828292847, 0.14362554252147675, 1.561570167541504, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2504386901855469, -0.7738231420516968, 0.7028687000274658, 1.1446174383163452, -0.4491874575614929, -1.1343175172805786, -0.00032346139778383076, 0.00032346139778383076, 0.25425344705581665, -0.9344243407249451, 0.8722438216209412, -1.6897459030151367, 0.13828489184379578, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19398032128810883, -0.7505531311035156, 0.6914244294166565, 1.1446174383163452, -0.42744335532188416, -1.1655985116958618, -0.00031996937468647957, 0.00031996937468647957, 0.230601966381073, -0.9336614012718201, 0.8710994124412537, -1.7008087635040283, 0.1359960287809372, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14171816408634186, -0.7383459210395813, 0.6849393248558044, 1.1449989080429077, -0.41447317600250244, -1.191157341003418, -0.00032346139778383076, 0.00032346139778383076, 0.20428015291690826, -0.9328984618186951, 0.8703364729881287, -1.7072938680648804, 0.13103684782981873, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09632257372140884, -0.7314793467521667, 0.6818875670433044, 1.1449989080429077, -0.4083695709705353, -1.2075608968734741, -0.00032346139778383076, 0.00032346139778383076, 0.17452506721019745, -0.9328984618186951, 0.8699550032615662, -1.7126344442367554, 0.13027389347553253, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05397878959774971, -0.728427529335022, 0.6803616285324097, 1.1449989080429077, -0.3999771177768707, -1.2220568656921387, -0.00032346139778383076, 0.00032346139778383076, 0.14324407279491425, -0.9336614012718201, 0.8684290647506714, -1.7145417928695679, 0.12607766687870026, 1.561570167541504, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.018501564860343933, -0.7265201807022095, 0.6792172193527222, 1.1449989080429077, -0.3854810297489166, -1.2331197261810303, -0.00032346139778383076, 0.00032346139778383076, 0.11043716967105865, -0.9382390975952148, 0.8661402463912964, -1.7175936698913574, 0.1203555315732956, 1.5611886978149414, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.00476844422519207, -0.725375771522522, 0.6769283413887024, 1.1446174383163452, -0.36678874492645264, -1.2403677701950073, -0.00032346139778383076, 0.00032346139778383076, 0.07953765243291855, -0.9466315507888794, 0.8646143078804016, -1.7175936698913574, 0.11425192654132843, 1.560807228088379, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.023079270496964455, -0.725375771522522, 0.6719691753387451, 1.1446174383163452, -0.3381780683994293, -1.2449454069137573, -0.00032346139778383076, 0.00032346139778383076, 0.05092698708176613, -0.959983229637146, 0.8638513684272766, -1.71797513961792, 0.10738536715507507, 1.5604257583618164, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03757534176111221, -0.725375771522522, 0.6639581918716431, 1.1442358493804932, -0.30346378684043884, -1.2479972839355469, -0.00032346139778383076, 0.00032346139778383076, 0.029564354568719864, -0.9748607873916626, 0.8627069592475891, -1.7240787744522095, 0.1024261862039566, 1.5569924116134644, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05207141116261482, -0.726138710975647, 0.6555657386779785, 1.1442358493804932, -0.273708701133728, -1.2479972839355469, -0.00032346139778383076, 0.00032346139778383076, 0.01773861236870289, -0.9897382855415344, 0.8634698987007141, -1.7462043762207031, 0.09822995215654373, 1.5558480024337769, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0722896158695221, -0.7299534678459167, 0.6467918157577515, 1.1446174383163452, -0.2500572204589844, -1.2487602233886719, -0.00032346139778383076, 0.00032346139778383076, 0.01125352829694748, -1.0046159029006958, 0.8695735335350037, -1.7679483890533447, 0.09365224838256836, 1.5554665327072144, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09632257372140884, -0.7360570430755615, 0.6376363635063171, 1.1442358493804932, -0.23556114733219147, -1.2499046325683594, -0.00032346139778383076, 0.00032346139778383076, 0.008201723918318748, -1.0172045230865479, 0.8764400482177734, -1.7851147651672363, 0.09365224838256836, 1.5531777143478394, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12569619715213776, -0.7433050870895386, 0.6315327882766724, 1.1442358493804932, -0.22106507420539856, -1.2510490417480469, -0.00032346139778383076, 0.00032346139778383076, 0.005912871100008488, -1.025978446006775, 0.881780743598938, -1.794651746749878, 0.09288929402828217, 1.5531777143478394, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.152399480342865, -0.7486457824707031, 0.6280995011329651, 1.1442358493804932, -0.21229113638401031, -1.2510490417480469, -0.00032346139778383076, 0.00032346139778383076, 0.0024795911740511656, -1.0343708992004395, 0.8871213793754578, -1.8003737926483154, 0.08983749151229858, 1.5531777143478394, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.17948424816131592, -0.7516975402832031, 0.6246662139892578, 1.1442358493804932, -0.20580606162548065, -1.2510490417480469, -0.00032346139778383076, 0.00032346139778383076, -0.004386968910694122, -1.0423818826675415, 0.892080545425415, -1.8038071393966675, 0.0864042118191719, 1.5531777143478394, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.20923933386802673, -0.7536049485206604, 0.6219958662986755, 1.1438543796539307, -0.1997024416923523, -1.2510490417480469, -0.00032346139778383076, 0.00032346139778383076, -0.01506828423589468, -1.050774335861206, 0.8985656499862671, -1.8068588972091675, 0.08564125746488571, 1.5531777143478394, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.23556114733219147, -0.7543678879737854, 0.6204699873924255, 1.1442358493804932, -0.1981765478849411, -1.2510490417480469, -0.00032346139778383076, 0.00032346139778383076, -0.029564354568719864, -1.0595483779907227, 0.9058136940002441, -1.8076218366622925, 0.08564125746488571, 1.5531777143478394, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2622644305229187, -0.7558938264846802, 0.6197070479393005, 1.1438543796539307, -0.1977950781583786, -1.2510490417480469, -0.00032346139778383076, 0.00032346139778383076, -0.04596780240535736, -1.0671778917312622, 0.9119172692298889, -1.8076218366622925, 0.08525978773832321, 1.5531777143478394, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.28667888045310974, -0.7581826448440552, 0.6189440488815308, 1.1442358493804932, -0.1974135935306549, -1.2510490417480469, -0.00032346139778383076, 0.00032346139778383076, -0.06198977679014206, -1.0748074054718018, 0.917639434337616, -1.8076218366622925, 0.08525978773832321, 1.5535591840744019, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3076600432395935, -0.7639048099517822, 0.6189440488815308, 1.1438543796539307, -0.1970321238040924, -1.2510490417480469, -0.00032346139778383076, 0.00032346139778383076, -0.07686731964349747, -1.0801479816436768, 0.9203097820281982, -1.808003306388855, 0.08373387902975082, 1.5535591840744019, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.32520791888237, -0.770771324634552, 0.6189440488815308, 1.1442358493804932, -0.1962691694498062, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, -0.08869306743144989, -1.0831998586654663, 0.9203097820281982, -1.8083847761154175, 0.08373387902975082, 1.5535591840744019, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3393225073814392, -0.778019368648529, 0.6189440488815308, 1.1438543796539307, -0.19550621509552002, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, -0.10204470902681351, -1.0854886770248413, 0.9199283123016357, -1.8087663650512695, 0.08411535620689392, 1.5535591840744019, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.35038527846336365, -0.7852674126625061, 0.6189440488815308, 1.1438543796539307, -0.19512474536895752, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, -0.11463340371847153, -1.0873960256576538, 0.919165313243866, -1.8087663650512695, 0.08449683338403702, 1.5539406538009644, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3583962619304657, -0.7921339869499207, 0.6189440488815308, 1.1438543796539307, -0.19512474536895752, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, -0.12531471252441406, -1.0885404348373413, 0.919165313243866, -1.8087663650512695, 0.08411535620689392, 1.5539406538009644, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.36411839723587036, -0.7982375621795654, 0.6189440488815308, 1.1438543796539307, -0.19512474536895752, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, -0.1348516047000885, -1.0900664329528809, 0.919165313243866, -1.809147834777832, 0.08449683338403702, 1.5539406538009644, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.36640727519989014, -0.80357825756073, 0.6189440488815308, 1.1438543796539307, -0.19474326074123383, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, -0.14209964871406555, -1.0915923118591309, 0.919165313243866, -1.809147834777832, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3686961233615875, -0.8089188933372498, 0.6189440488815308, 1.1442358493804932, -0.19436179101467133, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, -0.14591439068317413, -1.0934996604919434, 0.918402373790741, -1.8087663650512695, 0.08411535620689392, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3728923499584198, -0.8127336502075195, 0.6189440488815308, 1.1442358493804932, -0.19321736693382263, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, -0.1501106321811676, -1.0934996604919434, 0.918402373790741, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3759441375732422, -0.8157854676246643, 0.6189440488815308, 1.1442358493804932, -0.19130998849868774, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, -0.15392538905143738, -1.0946440696716309, 0.9180209040641785, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.37899595499038696, -0.8180742859840393, 0.6189440488815308, 1.1442358493804932, -0.19092851877212524, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, -0.15621423721313477, -1.0954070091247559, 0.918402373790741, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.38166627287864685, -0.8199816942214966, 0.6189440488815308, 1.1442358493804932, -0.19054703414440155, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, -0.15850308537483215, -1.0957884788513184, 0.9180209040641785, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3843366205692291, -0.8211261034011841, 0.6189440488815308, 1.1442358493804932, -0.19016556441783905, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.16041046380996704, -1.0961699485778809, 0.9172579646110535, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3854810297489166, -0.8222705721855164, 0.6189440488815308, 1.1442358493804932, -0.18978407979011536, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.16193637251853943, -1.0965514183044434, 0.916113555431366, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.386243999004364, -0.8241779208183289, 0.6189440488815308, 1.1442358493804932, -0.18978407979011536, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.16231784224510193, -1.0965514183044434, 0.9157320261001587, -1.8087663650512695, 0.08411535620689392, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3877699077129364, -0.8253223299980164, 0.6189440488815308, 1.1442358493804932, -0.18902114033699036, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.16308079659938812, -1.0976959466934204, 0.9149690866470337, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3889143168926239, -0.8264667987823486, 0.6189440488815308, 1.1442358493804932, -0.18825818598270416, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.16384375095367432, -1.098077416419983, 0.9149690866470337, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3904402256011963, -0.8276112079620361, 0.6189440488815308, 1.1442358493804932, -0.18711376190185547, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.164988175034523, -1.0984588861465454, 0.9149690866470337, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3923476040363312, -0.8283741474151611, 0.6189440488815308, 1.1442358493804932, -0.18711376190185547, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.1665140837430954, -1.0999847650527954, 0.9149690866470337, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.39387351274490356, -0.8287556171417236, 0.6189440488815308, 1.1442358493804932, -0.18711376190185547, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.1672770231962204, -1.100366234779358, 0.9149690866470337, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.39539939165115356, -0.8295185565948486, 0.6189440488815308, 1.1442358493804932, -0.18711376190185547, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.1684214472770691, -1.1015106439590454, 0.9149690866470337, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.39654383063316345, -0.8302815556526184, 0.6189440488815308, 1.1442358493804932, -0.18711376190185547, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.16956588625907898, -1.101892113685608, 0.9149690866470337, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.39768826961517334, -0.8310444951057434, 0.6189440488815308, 1.1442358493804932, -0.18711376190185547, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17032882571220398, -1.101892113685608, 0.9149690866470337, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3995956480503082, -0.8318074345588684, 0.6189440488815308, 1.1442358493804932, -0.18711376190185547, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17032882571220398, -1.1022735834121704, 0.9149690866470337, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4018844962120056, -0.8325703740119934, 0.6189440488815308, 1.1442358493804932, -0.18711376190185547, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17071031033992767, -1.103417992591858, 0.9153505563735962, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4037918746471405, -0.8337147831916809, 0.6189440488815308, 1.1442358493804932, -0.18673227727413177, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17185473442077637, -1.1053253412246704, 0.917639434337616, -1.8087663650512695, 0.08411535620689392, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4060807228088379, -0.8352407217025757, 0.6189440488815308, 1.1442358493804932, -0.18596932291984558, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17338064312934875, -1.10685133934021, 0.9195467829704285, -1.8087663650512695, 0.08411535620689392, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4079881012439728, -0.8367666006088257, 0.6189440488815308, 1.1442358493804932, -0.18558785319328308, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17414358258247375, -1.109140157699585, 0.9206912517547607, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4087510406970978, -0.8375295400619507, 0.6189440488815308, 1.1442358493804932, -0.1832990050315857, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17452506721019745, -1.1102845668792725, 0.9222171306610107, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.40989547967910767, -0.8382925391197205, 0.6189440488815308, 1.1442358493804932, -0.1817730963230133, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17452506721019745, -1.112191915512085, 0.9233615398406982, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.40989547967910767, -0.838674008846283, 0.6189440488815308, 1.1442358493804932, -0.1802472025156021, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17452506721019745, -1.1125733852386475, 0.9245060086250305, -1.8087663650512695, 0.08411535620689392, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.41027694940567017, -0.8398184180259705, 0.6189440488815308, 1.1442358493804932, -0.17757686972618103, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17490653693675995, -1.113336443901062, 0.924887478351593, -1.8087663650512695, 0.08411535620689392, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.41103988885879517, -0.8405813574790955, 0.6189440488815308, 1.1442358493804932, -0.17795833945274353, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17566949129104614, -1.114099383354187, 0.924887478351593, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.41180285811424255, -0.8413442969322205, 0.6189440488815308, 1.1442358493804932, -0.17757686972618103, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17605096101760864, -1.114099383354187, 0.924887478351593, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.41409170627593994, -0.8424887657165527, 0.6189440488815308, 1.1442358493804932, -0.17757686972618103, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17681391537189484, -1.1144808530807495, 0.924887478351593, -1.8087663650512695, 0.08411535620689392, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.41409170627593994, -0.8436331748962402, 0.6189440488815308, 1.1442358493804932, -0.17681391537189484, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17681391537189484, -1.114862322807312, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.41485464572906494, -0.8451590538024902, 0.6189440488815308, 1.1442358493804932, -0.17643244564533234, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17872129380702972, -1.115625262260437, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.41599908471107483, -0.84592205286026, 0.6189440488815308, 1.1442358493804932, -0.17605096101760864, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17872129380702972, -1.115625262260437, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.41599908471107483, -0.8470664620399475, 0.6189440488815308, 1.1442358493804932, -0.17605096101760864, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.17948424816131592, -1.115625262260437, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.41599908471107483, -0.8478294014930725, 0.6189440488815308, 1.1442358493804932, -0.17605096101760864, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.1810101419687271, -1.115625262260437, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4179064631462097, -0.848210871219635, 0.6189440488815308, 1.1442358493804932, -0.17566949129104614, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.182917520403862, -1.115625262260437, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4190509021282196, -0.84897381067276, 0.6189440488815308, 1.1442358493804932, -0.17566949129104614, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.18520638346672058, -1.115625262260437, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4201953113079071, -0.84897381067276, 0.6189440488815308, 1.1442358493804932, -0.17566949129104614, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.18520638346672058, -1.115625262260437, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4201953113079071, -0.84897381067276, 0.6189440488815308, 1.1442358493804932, -0.17566949129104614, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.18673227727413177, -1.115625262260437, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.421339750289917, -0.84897381067276, 0.6189440488815308, 1.1442358493804932, -0.17566949129104614, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.18711376190185547, -1.115625262260437, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.422102689743042, -0.84897381067276, 0.6189440488815308, 1.1442358493804932, -0.17566949129104614, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.18902114033699036, -1.115625262260437, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4224841594696045, -0.8493552803993225, 0.6189440488815308, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.18940261006355286, -1.1160067319869995, 0.925650417804718, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4236285984516144, -0.8493552803993225, 0.6189440488815308, 1.1442358493804932, -0.17566949129104614, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.19054703414440155, -1.116388201713562, 0.924887478351593, -1.8087663650512695, 0.08487831056118011, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.42515450716018677, -0.8493552803993225, 0.6189440488815308, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.19054703414440155, -1.116388201713562, 0.924887478351593, -1.8087663650512695, 0.08487831056118011, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.42744335532188416, -0.8497368097305298, 0.6189440488815308, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.19092851877212524, -1.116388201713562, 0.924887478351593, -1.8087663650512695, 0.08487831056118011, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.42935073375701904, -0.8497368097305298, 0.6189440488815308, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.19130998849868774, -1.116388201713562, 0.924887478351593, -1.8087663650512695, 0.08487831056118011, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.43087664246559143, -0.8497368097305298, 0.6189440488815308, 1.1442358493804932, -0.17566949129104614, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.19245441257953644, -1.1167696714401245, 0.924887478351593, -1.8087663650512695, 0.08487831056118011, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.43125811219215393, -0.8497368097305298, 0.6189440488815308, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.19321736693382263, -1.1167696714401245, 0.924887478351593, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.43240252137184143, -0.8497368097305298, 0.6189440488815308, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.19474326074123383, -1.1167696714401245, 0.9245060086250305, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4327840209007263, -0.8497368097305298, 0.6189440488815308, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.1962691694498062, -1.1167696714401245, 0.9245060086250305, -1.8087663650512695, 0.08487831056118011, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4335469603538513, -0.8497368097305298, 0.6189440488815308, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.1985580176115036, -1.1167696714401245, 0.9245060086250305, -1.8087663650512695, 0.08487831056118011, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4350728690624237, -0.8497368097305298, 0.6189440488815308, 1.1442358493804932, -0.17566949129104614, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.200083926320076, -1.117151141166687, 0.9245060086250305, -1.8087663650512695, 0.08487831056118011, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4354543387889862, -0.8497368097305298, 0.6189440488815308, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.20160982012748718, -1.1175326108932495, 0.9245060086250305, -1.8087663650512695, 0.08487831056118011, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4358358085155487, -0.8497368097305298, 0.6189440488815308, 1.1442358493804932, -0.17566949129104614, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.20237277448177338, -1.118677020072937, 0.9245060086250305, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4358358085155487, -0.8501182794570923, 0.6189440488815308, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.20275425910949707, -1.120965838432312, 0.925650417804718, -1.8087663650512695, 0.08487831056118011, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4358358085155487, -0.8501182794570923, 0.6189440488815308, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.20275425910949707, -1.124399185180664, 0.927176296710968, -1.8087663650512695, 0.08525978773832321, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4358358085155487, -0.8512626886367798, 0.6189440488815308, 1.1442358493804932, -0.17566949129104614, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.20275425910949707, -1.1255435943603516, 0.9287022352218628, -1.8087663650512695, 0.08449683338403702, 1.5543221235275269, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.42896926403045654, -0.8577477931976318, 0.6231403350830078, 1.1442358493804932, -0.17490653693675995, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.2004653960466385, -1.1305028200149536, 0.9321355223655701, -1.808003306388855, 0.08487831056118011, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4053177833557129, -0.8756771087646484, 0.6361104846000671, 1.1446174383163452, -0.17414358258247375, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.18520638346672058, -1.1396582126617432, 0.9390020370483398, -1.80724036693573, 0.08487831056118011, 1.5543221235275269, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.361829549074173, -0.9054322242736816, 0.6578545570373535, 1.1442358493804932, -0.17414358258247375, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.15583276748657227, -1.1503394842147827, 0.9477760195732117, -1.8060959577560425, 0.08449683338403702, 1.5558480024337769, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3099488914012909, -0.9386205673217773, 0.6799801588058472, 1.1442358493804932, -0.17452506721019745, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.11654078215360641, -1.1602579355239868, 0.954261064529419, -1.8030441999435425, 0.08373387902975082, 1.5558480024337769, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.24929426610469818, -0.9706645011901855, 0.699053943157196, 1.1442358493804932, -0.17452506721019745, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.07343403995037079, -1.1648355722427368, 0.9554055333137512, -1.8022812604904175, 0.08411535620689392, 1.5562294721603394, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.18863965570926666, -0.9954604506492615, 0.7104982137680054, 1.1442358493804932, -0.17528800666332245, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.03528648987412453, -1.1652170419692993, 0.9493018984794617, -1.7996108531951904, 0.08449683338403702, 1.5558480024337769, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.13828489184379578, -1.0088120698928833, 0.7162203192710876, 1.1442358493804932, -0.18635080754756927, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, -0.0009536888683214784, -1.1564431190490723, 0.9340428709983826, -1.7996108531951904, 0.08487831056118011, 1.5562294721603394, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09098191559314728, -1.0152971744537354, 0.7207980751991272, 1.1442358493804932, -0.21038375794887543, -1.2502861022949219, -0.00032346139778383076, 0.00032346139778383076, 0.030708782374858856, -1.1408026218414307, 0.9100099205970764, -1.7996108531951904, 0.08525978773832321, 1.5558480024337769, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04177157208323479, -1.0194933414459229, 0.7291905283927917, 1.1446174383163452, -0.2634088695049286, -1.2499046325683594, -0.00031996937468647957, 0.00031996937468647957, 0.06237125024199486, -1.1190584897994995, 0.8783474564552307, -1.7996108531951904, 0.08602273464202881, 1.5566109418869019, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.00858320016413927, -1.021400809288025, 0.7375829815864563, 1.1446174383163452, -0.32978561520576477, -1.2479972839355469, -0.00032346139778383076, 0.00032346139778383076, 0.09288929402828217, -1.098077416419983, 0.8531700372695923, -1.799229383468628, 0.09975585341453552, 1.560044288635254, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06923781335353851, -1.02216374874115, 0.7410162687301636, 1.1449989080429077, -0.39730677008628845, -1.2476158142089844, -0.00032346139778383076, 0.00032346139778383076, 0.12989242374897003, -1.0828183889389038, 0.8340963125228882, -1.799229383468628, 0.14057374000549316, 1.5619516372680664, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1348516047000885, -1.0225452184677124, 0.7413977384567261, 1.1453803777694702, -0.4522392749786377, -1.2472343444824219, -0.00032346139778383076, 0.00032346139778383076, 0.1661325991153717, -1.0725184679031372, 0.8268482685089111, -1.7988479137420654, 0.18787670135498047, 1.5642404556274414, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20351719856262207, -1.0225452184677124, 0.7394903302192688, 1.1457618474960327, -0.49382010102272034, -1.2460898160934448, -0.00032346139778383076, 0.00032346139778383076, 0.20275425910949707, -1.0667964220046997, 0.8257037997245789, -1.7957961559295654, 0.2580682039260864, 1.5642404556274414, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.27065691351890564, -1.0225452184677124, 0.7352941036224365, 1.1457618474960327, -0.5189974904060364, -1.2441824674606323, -0.00032346139778383076, 0.00032346139778383076, 0.24013885855674744, -1.0633630752563477, 0.8264667987823486, -1.796177625656128, 0.3442816734313965, 1.5642404556274414, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33131152391433716, -1.0225452184677124, 0.7299534678459167, 1.1461433172225952, -0.5373083353042603, -1.2438009977340698, -0.00032346139778383076, 0.00032346139778383076, 0.2786678969860077, -1.0584038496017456, 0.8241779208183289, -1.796177625656128, 0.42553597688674927, 1.5642404556274414, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3843366205692291, -1.0225452184677124, 0.725375771522522, 1.1469062566757202, -0.5552376508712769, -1.2438009977340698, -0.00032346139778383076, 0.00032346139778383076, 0.31452658772468567, -1.0545891523361206, 0.8180742859840393, -1.796177625656128, 0.5022125840187073, 1.5634775161743164, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4354543387889862, -1.0225452184677124, 0.7188906669616699, 1.1453803777694702, -0.5724040865898132, -1.2441824674606323, -0.00032346139778383076, 0.00032346139778383076, 0.35000380873680115, -1.0515373945236206, 0.8081559538841248, -1.7965590953826904, 0.5685893297195435, 1.560044288635254, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4808499217033386, -1.022926688194275, 0.7101167440414429, 1.1453803777694702, -0.5876630544662476, -1.2441824674606323, -0.00032346139778383076, 0.00032346139778383076, 0.3858625292778015, -1.0481040477752686, 0.7951858043670654, -1.796177625656128, 0.620088517665863, 1.5562294721603394, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5220493078231812, -1.0236896276474, 0.699816882610321, 1.1449989080429077, -0.5968185067176819, -1.2445639371871948, -0.00032346139778383076, 0.00032346139778383076, 0.4217212200164795, -1.0481040477752686, 0.7776378989219666, -1.7950332164764404, 0.6605249047279358, 1.5562294721603394, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5540932416915894, -1.0240710973739624, 0.689517080783844, 1.1446174383163452, -0.6021591424942017, -1.2445639371871948, -0.00032346139778383076, 0.00032346139778383076, 0.4549095928668976, -1.048485517501831, 0.7597085237503052, -1.7801556587219238, 0.6860837936401367, 1.5547035932540894, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5731670260429382, -1.0248340368270874, 0.6815060377120972, 1.1446174383163452, -0.6040665507316589, -1.2457083463668823, -0.00032346139778383076, 0.00032346139778383076, 0.4800869822502136, -1.055733561515808, 0.7482643127441406, -1.7526893615722656, 0.699053943157196, 1.5531777143478394, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5830853581428528, -1.02521550655365, 0.6765468716621399, 1.1446174383163452, -0.6052109599113464, -1.2472343444824219, -0.00032346139778383076, 0.00032346139778383076, 0.5029755234718323, -1.0736628770828247, 0.7410162687301636, -1.7214083671569824, 0.7082093358039856, 1.5531777143478394, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5888075232505798, -1.025978446006775, 0.6742580533027649, 1.1442358493804932, -0.6071183085441589, -1.2476158142089844, -0.00032346139778383076, 0.00032346139778383076, 0.5205233693122864, -1.1007477045059204, 0.7394903302192688, -1.6969939470291138, 0.7108796834945679, 1.5531777143478394, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5922408103942871, -1.0297932624816895, 0.6742580533027649, 1.1446174383163452, -0.6071183085441589, -1.2476158142089844, -0.00032346139778383076, 0.00032346139778383076, 0.5357823967933655, -1.1385138034820557, 0.7417792081832886, -1.6817349195480347, 0.7150759100914001, 1.5531777143478394, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5937666893005371, -1.0336079597473145, 0.6738765835762024, 1.1442358493804932, -0.6074998378753662, -1.2476158142089844, -0.00032346139778383076, 0.00032346139778383076, 0.5472266674041748, -1.1755168437957764, 0.7467383742332458, -1.6714351177215576, 0.7150759100914001, 1.5531777143478394, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5949110984802246, -1.0370413064956665, 0.6738765835762024, 1.1442358493804932, -0.6074998378753662, -1.2479972839355469, -0.00032346139778383076, 0.00032346139778383076, 0.5518043637275696, -1.19764244556427, 0.7501716613769531, -1.666857361793518, 0.7131685614585876, 1.5531777143478394, -0.00021963567996863276, 0.00021963567996863276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5968185067176819, -1.040474534034729, 0.6742580533027649, 1.1411840915679932, -0.6074998378753662, -1.2483787536621094, -0.00032346139778383076, 0.00032346139778383076, 0.5544747114181519, -1.2106126546859741, 0.7528420090675354, -1.6599907875061035, 0.7104982137680054, 1.5531777143478394, -0.008054166100919247, 0.008054166100919247], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5987258553504944, -1.042763352394104, 0.6754024624824524, 1.1388952732086182, -0.6078813076019287, -1.2487602233886719, -0.00032346139778383076, 0.00032346139778383076, 0.5548561811447144, -1.2163348197937012, 0.7589455842971802, -1.659609317779541, 0.7146944403648376, 1.5531777143478394, -0.015112586319446564, 0.015112586319446564], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6017776727676392, -1.0488669872283936, 0.6795986890792847, 1.1320286989212036, -0.6074998378753662, -1.2510490417480469, -0.00032346139778383076, 0.00032346139778383076, 0.5567635893821716, -1.2163348197937012, 0.770771324634552, -1.6561760902404785, 0.7337682247161865, 1.5535591840744019, -0.0158824622631073, 0.0158824622631073], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6078813076019287, -1.0626001358032227, 0.690280020236969, 1.128213882446289, -0.6074998378753662, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, 0.5567635893821716, -1.2052719593048096, 0.7822155952453613, -1.655794620513916, 0.7455939650535583, 1.5535591840744019, -0.0158824622631073, 0.0158824622631073], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6155108213424683, -1.0969328880310059, 0.7146944403648376, 1.1247806549072266, -0.6074998378753662, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, 0.5567635893821716, -1.186579704284668, 0.7898451089859009, -1.6561760902404785, 0.7494087219238281, 1.5535591840744019, -0.0158824622631073, 0.0158824622631073], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6239032745361328, -1.1495765447616577, 0.7494087219238281, 1.122110366821289, -0.6074998378753662, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, 0.5567635893821716, -1.1675058603286743, 0.7909895181655884, -1.655794620513916, 0.7467383742332458, 1.5535591840744019, -0.0158824622631073, 0.0158824622631073], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6330586671829224, -1.2148088216781616, 0.7898451089859009, 1.1217288970947266, -0.6071183085441589, -1.2506675720214844, -0.00032346139778383076, 0.00032346139778383076, 0.5567635893821716, -1.1533913612365723, 0.7913710474967957, -1.655794620513916, 0.7375829815864563, 1.5535591840744019, -0.0158824622631073, 0.0158824622631073], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6441214680671692, -1.281567096710205, 0.8283741474151611, 1.121347427368164, -0.6071183085441589, -1.2506675720214844, -0.00031996937468647957, 0.00031996937468647957, 0.5567635893821716, -1.1434729099273682, 0.7909895181655884, -1.655794620513916, 0.7337682247161865, 1.5535591840744019, -0.0158824622631073, 0.0158824622631073], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.654421329498291, -1.3391698598861694, 0.8588922023773193, 1.121347427368164, -0.6071183085441589, -1.2506675720214844, -0.00031996937468647957, 0.00031996937468647957, 0.5567635893821716, -1.1362248659133911, 0.7890821695327759, -1.6554131507873535, 0.7310978770256042, 1.5535591840744019, -0.0158824622631073, 0.0158824622631073], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.3773174285888672, 0.8783474564552307, 1.121347427368164, -0.6071183085441589, -1.2506675720214844, -0.0006540609756484628, 0.0006540609756484628, 0.5567635893821716, -1.1308842897415161, 0.7871748208999634, -1.6523613929748535, 0.7299534678459167, 1.5539406538009644, -0.0158824622631073, 0.0158824622631073], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6628137826919556, -1.3921949863433838, 0.8875028491020203, 1.120965838432312, -0.6074998378753662, -1.2510490417480469, -0.01250926498323679, 0.01250926498323679, 0.5567635893821716, -1.126688003540039, 0.7860303521156311, -1.6523613929748535, 0.7291905283927917, 1.5539406538009644, -0.0158824622631073, 0.0158824622631073], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6723506450653076, -1.3742656707763672, 0.881780743598938, 1.121347427368164, -0.6071183085441589, -1.2510490417480469, -0.017443200573325157, 0.017443200573325157, 0.5567635893821716, -1.122873306274414, 0.7833600640296936, -1.652742862701416, 0.7288090586662292, 1.5550850629806519, -0.0158824622631073, 0.0158824622631073], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -1.3197146654129028, 0.8581292629241943, 1.120965838432312, -0.6078813076019287, -1.2514305114746094, -0.019539106637239456, 0.019539106637239456, 0.5567635893821716, -1.114099383354187, 0.7799267768859863, -1.6523613929748535, 0.727664589881897, 1.5558480024337769, -0.0158824622631073, 0.0158824622631073], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7280460596084595, -1.2392233610153198, 0.8241779208183289, 1.120965838432312, -0.6078813076019287, -1.2510490417480469, -0.019104862585663795, 0.019104862585663795, 0.5571450591087341, -1.1015106439590454, 0.7730602025985718, -1.6523613929748535, 0.7234683632850647, 1.5558480024337769, -0.01478751003742218, 0.01478751003742218], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -1.1373693943023682, 0.7825970649719238, 1.120965838432312, -0.6094071865081787, -1.2514305114746094, -0.013259774073958397, 0.013259774073958397, 0.5613412857055664, -1.0751888751983643, 0.7597085237503052, -1.6523613929748535, 0.7085908055305481, 1.5558480024337769, -0.009405300952494144, 0.009405300952494144], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7990005612373352, -1.022926688194275, 0.7345311641693115, 1.120965838432312, -0.6109330654144287, -1.2518119812011719, -0.004989334847778082, 0.004989334847778082, 0.569733738899231, -1.034752368927002, 0.7402533292770386, -1.6481651067733765, 0.6879911422729492, 1.5558480024337769, -0.00030950616928748786, 0.00030950616928748786], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8222705721855164, -0.8932250142097473, 0.6765468716621399, 1.1205843687057495, -0.6097886562347412, -1.267833948135376, -0.0, 0.0, 0.5807965397834778, -0.9794384837150574, 0.7104982137680054, -1.648546576499939, 0.647173285484314, 1.5558480024337769, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.7703898549079895, 0.6116960644721985, 1.120202898979187, -0.5842298269271851, -1.2857633829116821, -0.0, 0.0, 0.5994887948036194, -0.9077210426330566, 0.6651026010513306, -1.648546576499939, 0.577744722366333, 1.5554665327072144, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8611810207366943, -0.6311513185501099, 0.5197604298591614, 1.119439959526062, -0.49382010102272034, -1.2960631847381592, -0.0, 0.0, 0.6250476837158203, -0.8291370868682861, 0.6116960644721985, -1.648546576499939, 0.49114975333213806, 1.5554665327072144, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.88979172706604, -0.5022125840187073, 0.4175249934196472, 1.122110366821289, -0.3557259440422058, -1.3010224103927612, -0.0, 0.0, 0.6540398001670837, -0.7497901916503906, 0.5582894682884216, -1.6481651067733765, 0.4011215269565582, 1.5554665327072144, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9157320261001587, -0.3767071068286896, 0.3076600432395935, 1.1301213502883911, -0.1989395022392273, -1.3036926984786987, -0.0, 0.0, 0.6792172193527222, -0.6826505064964294, 0.5163271427154541, -1.6481651067733765, 0.3282597064971924, 1.5554665327072144, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9195467829704285, -0.28324559330940247, 0.22220951318740845, 1.1385138034820557, -0.09594109654426575, -1.3040741682052612, -0.0, 0.0, 0.6937133073806763, -0.6406881809234619, 0.48962387442588806, -1.6481651067733765, 0.28858625888824463, 1.5550850629806519, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9069581031799316, -0.20199130475521088, 0.15774014592170715, 1.1415655612945557, -0.03032730519771576, -1.3040741682052612, -0.0, 0.0, 0.7082093358039856, -0.6155108213424683, 0.4709315598011017, -1.6481651067733765, 0.2637903392314911, 1.5550850629806519, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8821622133255005, -0.14362554252147675, 0.11730372905731201, 1.1446174383163452, 0.007057297509163618, -1.3040741682052612, -0.0, 0.0, 0.7257572412490845, -0.6033035516738892, 0.45834288001060486, -1.6481651067733765, 0.25158312916755676, 1.5550850629806519, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8581292629241943, -0.11234454810619354, 0.09365224838256836, 1.1480506658554077, 0.027656977996230125, -1.3002593517303467, -0.0, 0.0, 0.7417792081832886, -0.5964370369911194, 0.4484245181083679, -1.6481651067733765, 0.24319066107273102, 1.5550850629806519, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840962827205658, -0.09670405089855194, 0.07419699430465698, 1.1484321355819702, 0.04558632895350456, -1.2747005224227905, -0.0, 0.0, 0.7558938264846802, -0.5926222801208496, 0.44079500436782837, -1.647783637046814, 0.23861294984817505, 1.5550850629806519, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.09708552807569504, 0.050164032727479935, 1.1488136053085327, 0.06847485899925232, -1.2483787536621094, -0.0, 0.0, 0.7734416723251343, -0.5888075232505798, 0.43240252137184143, -1.647783637046814, 0.23556114733219147, 1.5550850629806519, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8634698987007141, -0.09670405089855194, 0.03757534176111221, 1.1488136053085327, 0.09174486994743347, -1.2220568656921387, -0.0, 0.0, 0.7917525172233582, -0.576981782913208, 0.41523614525794983, -1.647783637046814, 0.22602425515651703, 1.5550850629806519, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8775845170021057, -0.09708552807569504, 0.030708782374858856, 1.1499580144882202, 0.10204470902681351, -1.2014572620391846, -0.0, 0.0, 0.8127336502075195, -0.5388342142105103, 0.3728923499584198, -1.647783637046814, 0.1844434291124344, 1.5550850629806519, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8798733353614807, -0.09708552807569504, 0.02727550081908703, 1.1514838933944702, 0.11005569249391556, -1.192301869392395, -0.0, 0.0, 0.8283741474151611, -0.4797055125236511, 0.31567102670669556, -1.647783637046814, 0.1188296303153038, 1.5550850629806519, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8802548050880432, -0.09708552807569504, 0.02536812424659729, 1.1514838933944702, 0.11310750246047974, -1.186579704284668, -0.0, 0.0, 0.8360036611557007, -0.4045548141002655, 0.2588311731815338, -1.6474021673202515, 0.07724879682064056, 1.572632908821106, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8775845170021057, -0.09708552807569504, 0.02384222112596035, 1.1514838933944702, 0.11577782779932022, -1.1861982345581055, -0.0, 0.0, 0.8440146446228027, -0.3244449496269226, 0.20733195543289185, -1.644731879234314, 0.05436026677489281, 1.5897992849349976, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8756771087646484, -0.09708552807569504, 0.02384222112596035, 1.1511024236679077, 0.11615930497646332, -1.186579704284668, -0.0, 0.0, 0.8566033244132996, -0.25120165944099426, 0.1661325991153717, -1.644350290298462, 0.039101243019104004, 1.5985733270645142, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8730067610740662, -0.09708552807569504, 0.02384222112596035, 1.1511024236679077, 0.11654078215360641, -1.186579704284668, -0.0, 0.0, 0.8730067610740662, -0.200083926320076, 0.1371404528617859, -1.6409170627593994, 0.03299763426184654, 1.6039139032363892, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8722438216209412, -0.09708552807569504, 0.02384222112596035, 1.1511024236679077, 0.11692225188016891, -1.1869611740112305, -0.0, 0.0, 0.9012359976768494, -0.17795833945274353, 0.11387044936418533, -1.6336690187454224, 0.022697795182466507, 1.6065843105316162, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, -0.09708552807569504, 0.02384222112596035, 1.1503394842147827, 0.11730372905731201, -1.187342643737793, -0.0, 0.0, 0.9222171306610107, -0.17528800666332245, 0.09212634712457657, -1.6325246095657349, 0.010872052982449532, 1.6062028408050537, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8684290647506714, -0.09746700525283813, 0.02384222112596035, 1.1480506658554077, 0.11768520623445511, -1.191157341003418, -0.0, 0.0, 0.9328984618186951, -0.17185473442077637, 0.08030059933662415, -1.6298543214797974, -0.010872052982449532, 1.6058213710784912, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8638513684272766, -0.09746700525283813, 0.02384222112596035, 1.1480506658554077, 0.1180666834115982, -1.1949721574783325, -0.0, 0.0, 0.9393835067749023, -0.17223620414733887, 0.07419699430465698, -1.6298543214797974, -0.016975661739706993, 1.6054397821426392, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8611810207366943, -0.09708552807569504, 0.02384222112596035, 1.1480506658554077, 0.1180666834115982, -1.19916832447052, -0.0, 0.0, 0.9412909150123596, -0.17223620414733887, 0.0707637146115303, -1.6294728517532349, -0.024986648932099342, 1.6054397821426392, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8550774455070496, -0.09746700525283813, 0.02384222112596035, 1.1480506658554077, 0.1184481605887413, -1.205653429031372, -0.0, 0.0, 0.9424353241920471, -0.17452506721019745, 0.07000076025724411, -1.6290913820266724, -0.026131074875593185, 1.6054397821426392, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.09746700525283813, 0.02384222112596035, 1.1484321355819702, 0.1184481605887413, -1.2129014730453491, -0.0, 0.0, 0.9439612627029419, -0.17452506721019745, 0.06923781335353851, -1.6279468536376953, -0.02727550081908703, 1.6050583124160767, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.09708552807569504, 0.02384222112596035, 1.1484321355819702, 0.1184481605887413, -1.2182421684265137, -0.0, 0.0, 0.9447242021560669, -0.17452506721019745, 0.06923781335353851, -1.6264209747314453, -0.02841992862522602, 1.6050583124160767, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -0.09746700525283813, 0.02384222112596035, 1.1484321355819702, 0.1184481605887413, -1.2235828638076782, -0.0, 0.0, 0.9447242021560669, -0.17452506721019745, 0.06923781335353851, -1.6264209747314453, -0.02994582988321781, 1.6050583124160767, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8398184180259705, -0.09746700525283813, 0.02384222112596035, 1.1484321355819702, 0.1184481605887413, -1.2251087427139282, -0.0, 0.0, 0.9447242021560669, -0.17452506721019745, 0.06885633617639542, -1.6264209747314453, -0.03032730519771576, 1.6050583124160767, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.09746700525283813, 0.02384222112596035, 1.1484321355819702, 0.1184481605887413, -1.2285419702529907, -0.0, 0.0, 0.9447242021560669, -0.17414358258247375, 0.05970092490315437, -1.6268024444580078, -0.04329747334122658, 1.6050583124160767, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8363851308822632, -0.09746700525283813, 0.02384222112596035, 1.1484321355819702, 0.1184481605887413, -1.2293049097061157, -0.0, 0.0, 0.9428167939186096, -0.15468832850456238, 0.04406042397022247, -1.6268024444580078, -0.0707637146115303, 1.6050583124160767, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8344777822494507, -0.09746700525283813, 0.02384222112596035, 1.1484321355819702, 0.1180666834115982, -1.2319753170013428, -0.0, 0.0, 0.9428167939186096, -0.12645913660526276, 0.02536812424659729, -1.6271839141845703, -0.08907453715801239, 1.6054397821426392, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8340963125228882, -0.09708552807569504, 0.02384222112596035, 1.1488136053085327, 0.1180666834115982, -1.2323567867279053, -0.0, 0.0, 0.9428167939186096, -0.09288929402828217, 0.007057297509163618, -1.6302357912063599, -0.10662241280078888, 1.6058213710784912, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8333333134651184, -0.09746700525283813, 0.02384222112596035, 1.1488136053085327, 0.1180666834115982, -1.2331197261810303, -0.0, 0.0, 0.9428167939186096, -0.06618601083755493, -0.007438773289322853, -1.6302357912063599, -0.11730372905731201, 1.6069657802581787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8333333134651184, -0.09746700525283813, 0.02384222112596035, 1.1488136053085327, 0.1180666834115982, -1.2354085445404053, -0.0, 0.0, 0.9428167939186096, -0.04596780240535736, -0.01773861236870289, -1.6340504884719849, -0.12340734153985977, 1.6092545986175537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8329518437385559, -0.09746700525283813, 0.02384222112596035, 1.1488136053085327, 0.1180666834115982, -1.2361714839935303, -0.0, 0.0, 0.9428167939186096, -0.029182879254221916, -0.02536812424659729, -1.6348134279251099, -0.12798504531383514, 1.6096360683441162, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8329518437385559, -0.09746700525283813, 0.02384222112596035, 1.1488136053085327, 0.1180666834115982, -1.2361714839935303, -0.0, 0.0, 0.9428167939186096, -0.020027466118335724, -0.029182879254221916, -1.6378653049468994, -0.13103684782981873, 1.6103990077972412, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8329518437385559, -0.09746700525283813, 0.02384222112596035, 1.1488136053085327, 0.1180666834115982, -1.2361714839935303, -0.0, 0.0, 0.9428167939186096, -0.01583123579621315, -0.03185320645570755, -1.6386282444000244, -0.13065537810325623, 1.6130692958831787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8325703740119934, -0.09746700525283813, 0.02384222112596035, 1.1488136053085327, 0.1180666834115982, -1.2361714839935303, -0.0, 0.0, 0.9428167939186096, -0.010872052982449532, -0.03337911143898964, -1.6416800022125244, -0.13141833245754242, 1.6130692958831787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8325703740119934, -0.09746700525283813, 0.02384222112596035, 1.1488136053085327, 0.1180666834115982, -1.2361714839935303, -0.0, 0.0, 0.9428167939186096, -0.007057297509163618, -0.03490501269698143, -1.642061471939087, -0.13141833245754242, 1.6130692958831787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8325703740119934, -0.09746700525283813, 0.02384222112596035, 1.1491950750350952, 0.1180666834115982, -1.2361714839935303, -0.0, 0.0, 0.9428167939186096, -0.007438773289322853, -0.03490501269698143, -1.644731879234314, -0.13141833245754242, 1.6130692958831787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8325703740119934, -0.09746700525283813, 0.02384222112596035, 1.1491950750350952, 0.11768520623445511, -1.2361714839935303, -0.0, 0.0, 0.9428167939186096, -0.009727626107633114, -0.03337911143898964, -1.644731879234314, -0.13179980218410492, 1.6130692958831787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8321889042854309, -0.09746700525283813, 0.02384222112596035, 1.1491950750350952, 0.1180666834115982, -1.2361714839935303, -0.0, 0.0, 0.9428167939186096, -0.01125352829694748, -0.03299763426184654, -1.644731879234314, -0.13141833245754242, 1.6130692958831787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8321889042854309, -0.09746700525283813, 0.02384222112596035, 1.1491950750350952, 0.1180666834115982, -1.2357900142669678, -0.0, 0.0, 0.9428167939186096, -0.011635004542768002, -0.032616160809993744, -1.6439688205718994, -0.13103684782981873, 1.6130692958831787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8321889042854309, -0.09746700525283813, 0.023460745811462402, 1.1491950750350952, 0.11768520623445511, -1.2357900142669678, -0.0, 0.0, 0.9428167939186096, -0.01201647985726595, -0.032616160809993744, -1.6416800022125244, -0.13103684782981873, 1.6126878261566162, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8314259648323059, -0.09746700525283813, 0.02231631986796856, 1.1491950750350952, 0.1180666834115982, -1.2361714839935303, -0.0, 0.0, 0.9428167939186096, -0.012779430486261845, -0.03223468363285065, -1.6416800022125244, -0.13103684782981873, 1.6130692958831787, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8295185565948486, -0.09708552807569504, 0.01888304017484188, 1.1491950750350952, 0.12302586436271667, -1.2361714839935303, -0.0, 0.0, 0.9428167939186096, -0.013542382046580315, -0.03185320645570755, -1.6416800022125244, -0.13103684782981873, 1.6126878261566162, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8329518437385559, -0.08983749151229858, 0.010109102353453636, 1.1518653631210327, 0.14095520973205566, -1.2407492399215698, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.013542382046580315, -0.03185320645570755, -1.6416800022125244, -0.13103684782981873, 1.6126878261566162, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8344777822494507, -0.06351567804813385, -0.004386968910694122, 1.186579704284668, 0.15697719156742096, -1.274319052696228, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.013542382046580315, -0.03185320645570755, -1.6416800022125244, -0.13065537810325623, 1.6126878261566162, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.027656977996230125, -0.02079041674733162, 1.2415121793746948, 0.1665140837430954, -1.3250553607940674, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.014686808921396732, -0.03147173300385475, -1.6416800022125244, -0.13103684782981873, 1.6126878261566162, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8268482685089111, 0.0009536888683214784, -0.034142062067985535, 1.3094148635864258, 0.16956588625907898, -1.3857098817825317, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.015449759550392628, -0.031090257689356804, -1.641298532485962, -0.13065537810325623, 1.6126878261566162, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8257037997245789, 0.021171892061829567, -0.04291599988937378, 1.3838025331497192, 0.17299915850162506, -1.4532310962677002, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.01583123579621315, -0.031090257689356804, -1.641298532485962, -0.13065537810325623, 1.6126878261566162, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8234149813652039, 0.03223468363285065, -0.04787518084049225, 1.4566643238067627, 0.17452506721019745, -1.5199893712997437, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016212711110711098, -0.030708782374858856, -1.641298532485962, -0.13065537810325623, 1.6126878261566162, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8184558153152466, 0.040245670825242996, -0.05092698708176613, 1.5215152502059937, 0.17566949129104614, -1.5810253620147705, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016212711110711098, -0.030708782374858856, -1.641298532485962, -0.13065537810325623, 1.6126878261566162, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, 0.042153049260377884, -0.05245288833975792, 1.560044288635254, 0.17566949129104614, -1.6165026426315308, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13065537810325623, 1.6126878261566162, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, 0.04444190114736557, -0.05283436179161072, 1.5810253620147705, 0.17643244564533234, -1.636720895767212, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13065537810325623, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, 0.04596780240535736, -0.05283436179161072, 1.594377040863037, 0.17605096101760864, -1.6489280462265015, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13065537810325623, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8157854676246643, 0.04634927958250046, -0.05283436179161072, 1.6023880243301392, 0.17605096101760864, -1.6546502113342285, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13065537810325623, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8161669373512268, 0.04634927958250046, -0.05283436179161072, 1.6050583124160767, 0.17605096101760864, -1.6584649085998535, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13065537810325623, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8173113465309143, 0.04634927958250046, -0.05283436179161072, 1.6065843105316162, 0.17605096101760864, -1.659609317779541, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13065537810325623, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, 0.04596780240535736, -0.05283436179161072, 1.6096360683441162, 0.17605096101760864, -1.6626611948013306, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13027389347553253, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, 0.04596780240535736, -0.05283436179161072, 1.6100175380706787, 0.17605096101760864, -1.6626611948013306, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13065537810325623, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, 0.04596780240535736, -0.05283436179161072, 1.6123063564300537, 0.17566949129104614, -1.663042664527893, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13065537810325623, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, 0.04596780240535736, -0.05283436179161072, 1.6123063564300537, 0.17566949129104614, -1.6634241342544556, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13027389347553253, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, 0.04596780240535736, -0.05283436179161072, 1.6123063564300537, 0.17566949129104614, -1.6634241342544556, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13027389347553253, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, 0.04596780240535736, -0.05283436179161072, 1.6123063564300537, 0.17566949129104614, -1.665331482887268, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13027389347553253, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, 0.04596780240535736, -0.05283436179161072, 1.6123063564300537, 0.17566949129104614, -1.666094422340393, -9.087968646781519e-05, 9.087968646781519e-05, 0.9428167939186096, -0.016594186425209045, -0.030708782374858856, -1.641298532485962, -0.13027389347553253, 1.6123063564300537, -0.000223065449972637, 0.000223065449972637], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000037/meta.json b/rc-table30-v2__rc-dos-w1/000037/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f82e9601693e62622d6c99c919a8ea4058fc6ee0
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000037/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Sweep the trash on the table into the dustpan.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 5189,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000037/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000037/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6457d50731e15c3d169843e58727febee8e1477c
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000037/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000037/temporal.json b/rc-table30-v2__rc-dos-w1/000037/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..81edaf2af1aad7e3e88bdd788d9d95225d14cb7c
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000037/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6737239360809326, 0.15545128285884857, -1.6481651067733765, -0.0001514875766588375, 0.0001514875766588375, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4620050191879272, -0.12684062123298645, 1.5604257583618164, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6737239360809326, 0.15545128285884857, -1.6481651067733765, -0.00015487478231079876, 0.00015487478231079876, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4623864889144897, -0.12684062123298645, 1.5604257583618164, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6741054058074951, 0.15545128285884857, -1.648546576499939, -0.00015487478231079876, 0.00015487478231079876, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4623864889144897, -0.12645913660526276, 1.560044288635254, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6741054058074951, 0.15545128285884857, -1.6481651067733765, -0.00015487478231079876, 0.00015487478231079876, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4623864889144897, -0.12684062123298645, 1.5604257583618164, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6744868755340576, 0.15506981313228607, -1.6481651067733765, -0.00015487478231079876, 0.00015487478231079876, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4627679586410522, -0.12684062123298645, 1.5604257583618164, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6756312847137451, 0.15506981313228607, -1.6481651067733765, -0.0001514875766588375, 0.0001514875766588375, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4631494283676147, -0.12684062123298645, 1.5604257583618164, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6756312847137451, 0.15545128285884857, -1.6481651067733765, -0.0001514875766588375, 0.0001514875766588375, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4639123678207397, -0.12645913660526276, 1.5604257583618164, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6752498149871826, 0.15506981313228607, -1.6481651067733765, -0.00015487478231079876, 0.00015487478231079876, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4658198356628418, -0.12684062123298645, 1.560044288635254, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6748683452606201, 0.15545128285884857, -1.6481651067733765, -0.00015487478231079876, 0.00015487478231079876, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4654383659362793, -0.12684062123298645, 1.560044288635254, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6748683452606201, 0.15506981313228607, -1.6481651067733765, -0.00015487478231079876, 0.00015487478231079876, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4654383659362793, -0.12645913660526276, 1.5604257583618164, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6748683452606201, 0.15506981313228607, -1.648546576499939, -0.0001514875766588375, 0.0001514875766588375, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4654383659362793, -0.12684062123298645, 1.5604257583618164, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6748683452606201, 0.15506981313228607, -1.6481651067733765, -0.00015487478231079876, 0.00015487478231079876, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4650568962097168, -0.12684062123298645, 1.5604257583618164, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6748683452606201, 0.15506981313228607, -1.6481651067733765, -0.00015487478231079876, 0.00015487478231079876, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4623864889144897, -0.12645913660526276, 1.5604257583618164, -0.006860656198114157, 0.006860656198114157], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08525978773832321, 1.6760128736495972, 0.15506981313228607, -1.6481651067733765, -0.0001514875766588375, 0.0001514875766588375, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4627679586410522, -0.12645913660526276, 1.559281349182129, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08487831056118011, 1.6763943433761597, 0.15506981313228607, -1.6481651067733765, -0.0001514875766588375, 0.0001514875766588375, 0.8192187547683716, 0.14438849687576294, -0.07381551712751389, -1.4623864889144897, -0.12569619715213776, 1.559281349182129, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08487831056118011, 1.6813534498214722, 0.15468832850456238, -1.6474021673202515, -0.0021573405247181654, 0.0021573405247181654, 0.8203631639480591, 0.14438849687576294, -0.07343403995037079, -1.4627679586410522, -0.12455176562070847, 1.559281349182129, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08487831056118011, 1.6840238571166992, 0.15468832850456238, -1.6481651067733765, -0.025490548461675644, 0.025490548461675644, 0.8211261034011841, 0.14438849687576294, -0.07343403995037079, -1.4627679586410522, -0.12455176562070847, 1.5596628189086914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11348897218704224, -0.08487831056118011, 1.6840238571166992, 0.15468832850456238, -1.6481651067733765, -0.034, 0.034, 0.8211261034011841, 0.14438849687576294, -0.07343403995037079, -1.4635308980941772, -0.12455176562070847, 1.5596628189086914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11310750246047974, -0.08449683338403702, 1.6840238571166992, 0.15430685877799988, -1.6481651067733765, -0.034, 0.034, 0.8211261034011841, 0.14438849687576294, -0.07343403995037079, -1.4642938375473022, -0.12455176562070847, 1.560044288635254, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11158160120248795, -0.08182650804519653, 1.6916533708572388, 0.15316243469715118, -1.6481651067733765, -0.034, 0.034, 0.8211261034011841, 0.14438849687576294, -0.07343403995037079, -1.4658198356628418, -0.12455176562070847, 1.5611886978149414, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8924620151519775, 0.11043716967105865, -0.04940108209848404, 1.71492338180542, 0.1371404528617859, -1.647020697593689, -0.034, 0.034, 0.8211261034011841, 0.14438849687576294, -0.07343403995037079, -1.4654383659362793, -0.12455176562070847, 1.561570167541504, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, 0.10013733059167862, 0.02841992862522602, 1.7294193506240845, 0.086785688996315, -1.646257758140564, -0.034, 0.034, 0.8211261034011841, 0.14438849687576294, -0.07343403995037079, -1.4654383659362793, -0.12455176562070847, 1.561570167541504, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8196002244949341, 0.06847485899925232, 0.14324407279491425, 1.71950101852417, 0.006294346414506435, -1.6512168645858765, -0.034, 0.034, 0.8211261034011841, 0.14438849687576294, -0.07343403995037079, -1.4650568962097168, -0.12455176562070847, 1.561570167541504, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7108796834945679, 0.001716639962978661, 0.2809567451477051, 1.7130159139633179, -0.10166323184967041, -1.6882200241088867, -0.034, 0.034, 0.8211261034011841, 0.14438849687576294, -0.07267109304666519, -1.4650568962097168, -0.12417028844356537, 1.561570167541504, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5670633912086487, -0.1028076633810997, 0.43163958191871643, 1.7050049304962158, -0.23365376889705658, -1.727512001991272, -0.034, 0.034, 0.8211261034011841, 0.14438849687576294, -0.07267109304666519, -1.4650568962097168, -0.12378881871700287, 1.561570167541504, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4224841594696045, -0.2317463904619217, 0.5827038884162903, 1.6760128736495972, -0.3915846347808838, -1.7401007413864136, -0.034, 0.034, 0.8211261034011841, 0.14438849687576294, -0.07267109304666519, -1.4646753072738647, -0.12378881871700287, 1.5619516372680664, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3091859221458435, -0.36640727519989014, 0.7173647880554199, 1.6363393068313599, -0.5487525463104248, -1.7473487854003906, -0.034, 0.034, 0.8211261034011841, 0.14438849687576294, -0.07267109304666519, -1.4623864889144897, -0.12340734153985977, 1.562333106994629, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22755016386508942, -0.4869535267353058, 0.8165484070777893, 1.6039139032363892, -0.6857023239135742, -1.7515449523925781, -0.034, 0.034, 0.8211261034011841, 0.14438849687576294, -0.07267109304666519, -1.4623864889144897, -0.12302586436271667, 1.562333106994629, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1840619444847107, -0.572022557258606, 0.8649957776069641, 1.58865487575531, -0.7574197053909302, -1.7515449523925781, -0.034, 0.034, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4623864889144897, -0.12302586436271667, 1.562333106994629, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16041046380996704, -0.6429770588874817, 0.8894102573394775, 1.5802624225616455, -0.8062485456466675, -1.7542153596878052, -0.034, 0.034, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4627679586410522, -0.12302586436271667, 1.562333106994629, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14515145123004913, -0.7097352743148804, 0.9107728600502014, 1.5859845876693726, -0.8443961143493652, -1.7545968294143677, -0.034, 0.034, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4627679586410522, -0.12302586436271667, 1.562333106994629, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13752193748950958, -0.7658121585845947, 0.9252689480781555, 1.5932326316833496, -0.8615625500679016, -1.7584115266799927, -0.03345465660095215, 0.03345465660095215, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4631494283676147, -0.12302586436271667, 1.562333106994629, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13141833245754242, -0.8211261034011841, 0.9363317489624023, 1.6046768426895142, -0.8745326995849609, -1.7587929964065552, -0.03172755986452103, 0.03172755986452103, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4639123678207397, -0.12264438718557358, 1.562333106994629, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12836651504039764, -0.8676661252975464, 0.9458686113357544, 1.6149767637252808, -0.884069561958313, -1.7584115266799927, -0.02942322939634323, 0.02942322939634323, 0.8203631639480591, 0.14438849687576294, -0.07267109304666519, -1.4658198356628418, -0.12264438718557358, 1.5627145767211914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12378881871700287, -0.9016174674034119, 0.9557870030403137, 1.6287097930908203, -0.8844510316848755, -1.7584115266799927, -0.028778724372386932, 0.028778724372386932, 0.8203631639480591, 0.14438849687576294, -0.07267109304666519, -1.4654383659362793, -0.12264438718557358, 1.5627145767211914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11501488089561462, -0.9245060086250305, 0.9618905782699585, 1.6424429416656494, -0.883306622505188, -1.7580300569534302, -0.026724329218268394, 0.026724329218268394, 0.8203631639480591, 0.14438849687576294, -0.07267109304666519, -1.4654383659362793, -0.12302586436271667, 1.5627145767211914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10814831405878067, -0.9401465058326721, 0.9626535177230835, 1.653505802154541, -0.8745326995849609, -1.7580300569534302, -0.02481306530535221, 0.02481306530535221, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4654383659362793, -0.12302586436271667, 1.5627145767211914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1024261862039566, -0.9493018984794617, 0.959220290184021, 1.660753846168518, -0.8562218546867371, -1.7580300569534302, -0.02170504443347454, 0.02170504443347454, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4650568962097168, -0.12264438718557358, 1.5627145767211914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10166323184967041, -0.9554055333137512, 0.954261064529419, 1.6680018901824951, -0.8348592519760132, -1.7580300569534302, -0.020044026896357536, 0.020044026896357536, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4650568962097168, -0.12264438718557358, 1.5627145767211914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09975585341453552, -0.9603646993637085, 0.9473945498466492, 1.6733424663543701, -0.8165484070777893, -1.7576485872268677, -0.017646824941039085, 0.017646824941039085, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4650568962097168, -0.12264438718557358, 1.5627145767211914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09937438368797302, -0.962272047996521, 0.9409094452857971, 1.6763943433761597, -0.7990005612373352, -1.7568856477737427, -0.01315286010503769, 0.01315286010503769, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4620050191879272, -0.12302586436271667, 1.563096046447754, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09899290651082993, -0.9630350470542908, 0.9355688095092773, 1.6775387525558472, -0.7879377603530884, -1.7542153596878052, -0.007706985808908939, 0.007706985808908939, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4623864889144897, -0.12264438718557358, 1.5627145767211914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09479667246341705, -0.9626535177230835, 0.9325169920921326, 1.6897459030151367, -0.7825970649719238, -1.7465858459472656, -0.004757615737617016, 0.004757615737617016, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4623864889144897, -0.12302586436271667, 1.563096046447754, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08144503086805344, -0.9561684727668762, 0.9290837049484253, 1.7080568075180054, -0.7864118218421936, -1.7416266202926636, -0.004681320395320654, 0.004681320395320654, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4623864889144897, -0.12302586436271667, 1.563096046447754, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.057793546468019485, -0.9424353241920471, 0.9218356609344482, 1.7240787744522095, -0.7951858043670654, -1.730945348739624, -0.00468717236071825, 0.00468717236071825, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4627679586410522, -0.12302586436271667, 1.5627145767211914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0398641936480999, -0.9218356609344482, 0.9130617380142212, 1.7301822900772095, -0.7978560924530029, -1.718738079071045, -0.00468717236071825, 0.00468717236071825, 0.8199816942214966, 0.14438849687576294, -0.07267109304666519, -1.4631494283676147, -0.12302586436271667, 1.563096046447754, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.02536812424659729, -0.8928435444831848, 0.9077210426330566, 1.7336156368255615, -0.8012893795967102, -1.7084382772445679, -0.00468717236071825, 0.00468717236071825, 0.8203631639480591, 0.14438849687576294, -0.07267109304666519, -1.4635308980941772, -0.12302586436271667, 1.563096046447754, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01583123579621315, -0.8524070978164673, 0.9119172692298889, 1.7366673946380615, -0.8100633025169373, -1.7011902332305908, -0.00468717236071825, 0.00468717236071825, 0.8203631639480591, 0.14438849687576294, -0.07267109304666519, -1.4654383659362793, -0.12302586436271667, 1.563096046447754, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01888304017484188, -0.8024337887763977, 0.9302281141281128, 1.729037880897522, -0.8199816942214966, -1.6897459030151367, -0.004681320395320654, 0.004681320395320654, 0.8203631639480591, 0.14438849687576294, -0.07267109304666519, -1.4654383659362793, -0.12302586436271667, 1.563096046447754, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03833829239010811, -0.7459754347801208, 0.9569314122200012, 1.7214083671569824, -0.8344777822494507, -1.6779202222824097, -0.00468717236071825, 0.00468717236071825, 0.8192187547683716, 0.14438849687576294, -0.06198977679014206, -1.4654383659362793, -0.11387044936418533, 1.563096046447754, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.07419699430465698, -0.6944762468338013, 0.9924086332321167, 1.7286564111709595, -0.8512626886367798, -1.6744868755340576, -0.00468717236071825, 0.00468717236071825, 0.8009079098701477, 0.14438849687576294, 0.008964675478637218, -1.4654383659362793, -0.053215838968753815, 1.5627145767211914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12722209095954895, -0.6578545570373535, 1.0320820808410645, 1.7641336917877197, -0.884069561958313, -1.6748683452606201, -0.00468717236071825, 0.00468717236071825, 0.7375829815864563, 0.12722209095954895, 0.12607766687870026, -1.4654383659362793, 0.08907453715801239, 1.5627145767211914, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19016556441783905, -0.6319142580032349, 1.0702296495437622, 1.808003306388855, -0.9069581031799316, -1.6824978590011597, -0.00468717236071825, 0.00468717236071825, 0.6204699873924255, 0.04139009863138199, 0.2740901708602905, -1.4642938375473022, 0.30079346895217896, 1.574540376663208, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2569237947463989, -0.6174181699752808, 1.099603295326233, 1.8408102989196777, -0.924887478351593, -1.6947051286697388, -0.00468717236071825, 0.00468717236071825, 0.47474631667137146, -0.10624094307422638, 0.41485464572906494, -1.4623864889144897, 0.5323491096496582, 1.5821698904037476, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3427557647228241, -0.6105515956878662, 1.116388201713562, 1.8705652952194214, -0.9309910535812378, -1.7099641561508179, -0.00468717236071825, 0.00468717236071825, 0.34542611241340637, -0.2615014910697937, 0.5193789601325989, -1.4627679586410522, 0.7177462577819824, 1.571869969367981, -0.03252993896603584, 0.03252993896603584], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42629891633987427, -0.6162737607955933, 1.123636245727539, 1.9071869850158691, -0.9355688095092773, -1.7256046533584595, -0.00468717236071825, 0.00468717236071825, 0.22335393726825714, -0.4232471287250519, 0.5998703241348267, -1.4627679586410522, 0.8615625500679016, 1.5199893712997437, -0.031039319932460785, 0.031039319932460785], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.481612890958786, -0.6284809708595276, 1.1232547760009766, 1.9277867078781128, -0.9355688095092773, -1.729037880897522, -0.004681320395320654, 0.004681320395320654, 0.12340734153985977, -0.5659189820289612, 0.6506065726280212, -1.4662013053894043, 0.9443427324295044, 1.4703974723815918, -0.031039319932460785, 0.031039319932460785], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5117494463920593, -0.6372548937797546, 1.1160067319869995, 1.9293125867843628, -0.9317540526390076, -1.728274941444397, -0.00468717236071825, 0.00468717236071825, 0.05703059583902359, -0.7112611532211304, 0.6956206560134888, -1.4662013053894043, 0.9832532405853271, 1.430724024772644, -0.031039319932460785, 0.031039319932460785], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5319676399230957, -0.6437399983406067, 1.102655053138733, 1.9190127849578857, -0.9218356609344482, -1.7240787744522095, -0.00468717236071825, 0.00468717236071825, 0.01583123579621315, -0.84744793176651, 0.7440680265426636, -1.4658198356628418, 1.0008010864257812, 1.4040207862854004, -0.031039319932460785, 0.031039319932460785], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5399786233901978, -0.6513695120811462, 1.0900664329528809, 1.9075684547424316, -0.9122987985610962, -1.7137788534164429, -0.00468717236071825, 0.00468717236071825, -0.007057297509163618, -0.9580758213996887, 0.7936598658561707, -1.4654383659362793, 1.0027084350585938, 1.3776988983154297, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5460822582244873, -0.6593804955482483, 1.0786221027374268, 1.8957427740097046, -0.9058136940002441, -1.7015717029571533, -0.004681320395320654, 0.004681320395320654, -0.026512550190091133, -1.042763352394104, 0.8329518437385559, -1.4623864889144897, 1.0015640258789062, 1.353284478187561, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5483710765838623, -0.6689173579216003, 1.0679408311843872, 1.883916974067688, -0.8966583013534546, -1.6950865983963013, -0.004681320395320654, 0.004681320395320654, -0.04558632895350456, -1.109140157699585, 0.8535515666007996, -1.4627679586410522, 0.9851605892181396, 1.333447813987732, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5502784848213196, -0.6799801588058472, 1.0599298477172852, 1.8812466859817505, -0.8871213793754578, -1.6851682662963867, -0.00468717236071825, 0.00468717236071825, -0.06008239835500717, -1.1598763465881348, 0.8623254895210266, -1.4631494283676147, 0.9653238654136658, 1.3258183002471924, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5533303022384644, -0.691805899143219, 1.054207682609558, 1.880865216255188, -0.8802548050880432, -1.6798275709152222, -0.00468717236071825, 0.00468717236071825, -0.06542305648326874, -1.192301869392395, 0.8642328381538391, -1.4662013053894043, 0.9351872801780701, 1.3185702562332153, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5556191205978394, -0.7051575779914856, 1.051155924797058, 1.8804837465286255, -0.8772030472755432, -1.6790646314620972, -0.004681320395320654, 0.004681320395320654, -0.06046387553215027, -1.2151904106140137, 0.8638513684272766, -1.4654383659362793, 0.9073395729064941, 1.3139925003051758, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5582894682884216, -0.7196536064147949, 1.050011396408081, 1.8789578676223755, -0.8745326995849609, -1.6790646314620972, -0.004681320395320654, 0.004681320395320654, -0.048256658017635345, -1.2399863004684448, 0.8630884289741516, -1.4650568962097168, 0.8871213793754578, 1.3078888654708862, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5613412857055664, -0.7372015118598938, 1.0561150312423706, 1.877431869506836, -0.8733882904052734, -1.6786831617355347, -0.004681320395320654, 0.004681320395320654, -0.034142062067985535, -1.265545129776001, 0.8623254895210266, -1.4612420797348022, 0.8680475950241089, 1.3075073957443237, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5739299654960632, -0.7597085237503052, 1.0751888751983643, 1.8907835483551025, -0.8916990756988525, -1.6752498149871826, -0.00468717236071825, 0.00468717236071825, -0.02384222112596035, -1.28233003616333, 0.8623254895210266, -1.4627679586410522, 0.84592205286026, 1.3071259260177612, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5926222801208496, -0.7806897163391113, 1.0934996604919434, 1.9151979684829712, -0.9157320261001587, -1.6763943433761597, -0.004681320395320654, 0.004681320395320654, -0.01506828423589468, -1.2937743663787842, 0.8623254895210266, -1.4623864889144897, 0.8199816942214966, 1.3029297590255737, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6113145351409912, -0.7986190319061279, 1.1045624017715454, 1.9316014051437378, -0.9336614012718201, -1.6882200241088867, -0.004681320395320654, 0.004681320395320654, -0.01506828423589468, -1.3063629865646362, 0.8634698987007141, -1.4620050191879272, 0.7990005612373352, 1.2960631847381592, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6273365616798401, -0.8146410584449768, 1.112191915512085, 1.9407567977905273, -0.9481574892997742, -1.6996643543243408, -0.004681320395320654, 0.004681320395320654, -0.024605173617601395, -1.3223849534988403, 0.8646143078804016, -1.4627679586410522, 0.7848859429359436, 1.2861448526382446, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6410696506500244, -0.8279926776885986, 1.117914080619812, 1.948386311531067, -0.962272047996521, -1.7053864002227783, -0.00468717236071825, 0.00468717236071825, -0.02994582988321781, -1.334210753440857, 0.8665217161178589, -1.4654383659362793, 0.7745860815048218, 1.273556113243103, -0.03104802593588829, 0.03104802593588829], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6490806341171265, -0.838674008846283, 1.1240177154541016, 1.9529640674591064, -0.9725719094276428, -1.7141603231430054, -0.004681320395320654, 0.004681320395320654, -0.03528648987412453, -1.3403143882751465, 0.8691920638084412, -1.4654383659362793, 0.7654306888580322, 1.2689783573150635, -0.03103061020374298, 0.03103061020374298], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.655947208404541, -0.84592205286026, 1.1301213502883911, 1.9529640674591064, -0.9813458323478699, -1.7214083671569824, -0.00468717236071825, 0.00468717236071825, -0.03795681521296501, -1.3441290855407715, 0.8730067610740662, -1.4654383659362793, 0.7585641145706177, 1.2628748416900635, -0.02974163182079792, 0.02974163182079792], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6601434350013733, -0.8501182794570923, 1.1320286989212036, 1.952582597732544, -0.9893568158149719, -1.725223183631897, -0.004681320395320654, 0.004681320395320654, -0.037193864583969116, -1.3471808433532715, 0.8749141693115234, -1.4616235494613647, 0.7551308274269104, 1.259060025215149, -0.027680683881044388, 0.027680683881044388], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6639581918716431, -0.8520256280899048, 1.1308842897415161, 1.9506752490997314, -0.9985122680664062, -1.728274941444397, -0.004681320395320654, 0.004681320395320654, -0.03643091395497322, -1.3506141901016235, 0.8764400482177734, -1.4623864889144897, 0.7536049485206604, 1.2556267976760864, -0.02508850395679474, 0.02508850395679474], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6673914790153503, -0.8527885675430298, 1.1285953521728516, 1.948386311531067, -1.0046159029006958, -1.7286564111709595, -0.004681320395320654, 0.004681320395320654, -0.03337911143898964, -1.353284478187561, 0.8775845170021057, -1.4623864889144897, 0.7501716613769531, 1.255245327949524, -0.020928218960762024, 0.020928218960762024], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6696802973747253, -0.8535515666007996, 1.127450942993164, 1.948386311531067, -1.0156786441802979, -1.729037880897522, -0.004681320395320654, 0.004681320395320654, -0.032616160809993744, -1.3544288873672485, 0.8791103959083557, -1.4623864889144897, 0.7463569045066833, 1.255245327949524, -0.017288414761424065, 0.017288414761424065], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6696802973747253, -0.8535515666007996, 1.1270694732666016, 1.950293779373169, -1.021400809288025, -1.7294193506240845, -0.004681320395320654, 0.004681320395320654, -0.03643091395497322, -1.355954885482788, 0.8802548050880432, -1.4627679586410522, 0.7467383742332458, 1.2548638582229614, -0.016366731375455856, 0.016366731375455856], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6696802973747253, -0.8535515666007996, 1.1270694732666016, 1.955634355545044, -1.024452567100525, -1.728274941444397, -0.004681320395320654, 0.004681320395320654, -0.042153049260377884, -1.3563363552093506, 0.881017804145813, -1.4620050191879272, 0.7471198439598083, 1.254482388496399, -0.015364833176136017, 0.015364833176136017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6696802973747253, -0.8535515666007996, 1.1263065338134766, 1.9594491720199585, -1.028648853302002, -1.7240787744522095, -0.004681320395320654, 0.004681320395320654, -0.05054550990462303, -1.3563363552093506, 0.883306622505188, -1.4623864889144897, 0.7532234787940979, 1.2476158142089844, -0.014437110163271427, 0.014437110163271427], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6696802973747253, -0.8535515666007996, 1.1278324127197266, 1.960593581199646, -1.0305562019348145, -1.720263957977295, -0.004681320395320654, 0.004681320395320654, -0.05893797054886818, -1.3544288873672485, 0.8909361362457275, -1.4662013053894043, 0.7738231420516968, 1.2392233610153198, -0.014437110163271427, 0.014437110163271427], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6692988276481628, -0.8524070978164673, 1.1289769411087036, 1.9617379903793335, -1.034752368927002, -1.7160677909851074, -0.004681320395320654, 0.004681320395320654, -0.06275273114442825, -1.3265812397003174, 0.8970397710800171, -1.4665827751159668, 0.7890821695327759, 1.2289234399795532, -0.014437110163271427, 0.014437110163271427], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6696802973747253, -0.8512626886367798, 1.1255435943603516, 1.959830641746521, -1.032463550567627, -1.7080568075180054, -0.004681320395320654, 0.004681320395320654, -0.05245288833975792, -1.2762264013290405, 0.8958953022956848, -1.4665827751159668, 0.7974746227264404, 1.2273975610733032, -0.014437110163271427, 0.014437110163271427], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6666285395622253, -0.8512626886367798, 1.114862322807312, 1.9514381885528564, -1.019874930381775, -1.7011902332305908, -0.004681320395320654, 0.004681320395320654, -0.023079270496964455, -1.206416368484497, 0.8772030472755432, -1.4658198356628418, 0.80510413646698, 1.2251087427139282, -0.01442792546004057, 0.01442792546004057], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6582360863685608, -0.8520256280899048, 1.1037994623184204, 1.9434272050857544, -0.994316041469574, -1.6939421892166138, -0.004681320395320654, 0.004681320395320654, 0.023079270496964455, -1.1263065338134766, 0.8382925391197205, -1.4658198356628418, 0.810826301574707, 1.2251087427139282, -0.01442792546004057, 0.01442792546004057], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6429770588874817, -0.8535515666007996, 1.0957884788513184, 1.9323643445968628, -0.9611276388168335, -1.6851682662963867, -0.004681320395320654, 0.004681320395320654, 0.08182650804519653, -1.042763352394104, 0.7845044732093811, -1.4642938375473022, 0.8237964510917664, 1.2209124565124512, -0.01442792546004057, 0.01442792546004057], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6277180314064026, -0.8585107326507568, 1.0881589651107788, 1.9190127849578857, -0.9313725233078003, -1.6748683452606201, -0.004681320395320654, 0.004681320395320654, 0.14438849687576294, -0.9588387608528137, 0.7280460596084595, -1.4623864889144897, 0.8447775840759277, 1.2182421684265137, -0.01442792546004057, 0.01442792546004057], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6174181699752808, -0.8669031858444214, 1.0847257375717163, 1.9136720895767212, -0.9004730582237244, -1.6649500131607056, -0.004681320395320654, 0.004681320395320654, 0.20618753135204315, -0.8752956390380859, 0.6723506450653076, -1.4623864889144897, 0.8710994124412537, 1.2186236381530762, -0.014418741688132286, 0.014418741688132286], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6113145351409912, -0.884069561958313, 1.0873960256576538, 1.9041352272033691, -0.8730067610740662, -1.6523613929748535, -0.004681320395320654, 0.004681320395320654, 0.2588311731815338, -0.8047226667404175, 0.6227588057518005, -1.4620050191879272, 0.9061951637268066, 1.2262531518936157, -0.014409561641514301, 0.014409561641514301], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6105515956878662, -0.9103913903236389, 1.098840355873108, 1.8915464878082275, -0.8504997491836548, -1.6386282444000244, -0.004681320395320654, 0.004681320395320654, 0.29964902997016907, -0.7543678879737854, 0.579270601272583, -1.4635308980941772, 0.9473945498466492, 1.2346456050872803, -0.014372858218848705, 0.014372858218848705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6116960644721985, -0.9420538544654846, 1.1160067319869995, 1.8858243227005005, -0.8325703740119934, -1.6248950958251953, -0.004681320395320654, 0.004681320395320654, 0.34542611241340637, -0.726138710975647, 0.5437933802604675, -1.4658198356628418, 0.9802014231681824, 1.2407492399215698, -0.014372858218848705, 0.014372858218848705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6170367002487183, -0.9802014231681824, 1.1408026218414307, 1.8686579465866089, -0.8161669373512268, -1.6092545986175537, -0.004681320395320654, 0.004681320395320654, 0.3843366205692291, -0.7112611532211304, 0.5136567950248718, -1.4650568962097168, 0.997367799282074, 1.2449454069137573, -0.014372858218848705, 0.014372858218848705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.620851457118988, -1.0248340368270874, 1.1682689189910889, 1.8293659687042236, -0.7883192300796509, -1.5756847858428955, -0.004681320395320654, 0.004681320395320654, 0.403410404920578, -0.7043945789337158, 0.49343863129615784, -1.4646753072738647, 0.997367799282074, 1.256771206855774, -0.014372858218848705, 0.014372858218848705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6204699873924255, -1.0797665119171143, 1.190394401550293, 1.7824444770812988, -0.7387273907661438, -1.5280003547668457, -0.004681320395320654, 0.004681320395320654, 0.41294726729393005, -0.7104982137680054, 0.4800869822502136, -1.4623864889144897, 0.9721904397010803, 1.275844931602478, -0.014372858218848705, 0.014372858218848705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6189440488815308, -1.1438543796539307, 1.2247272729873657, 1.7557412385940552, -0.6940947771072388, -1.4868009090423584, -0.004681320395320654, 0.004681320395320654, 0.42515450716018677, -0.7352941036224365, 0.47703516483306885, -1.4635308980941772, 0.9489204287528992, 1.2964446544647217, -0.014372858218848705, 0.014372858218848705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6189440488815308, -1.2132829427719116, 1.270504355430603, 1.7343785762786865, -0.6719691753387451, -1.4593347311019897, -0.004681320395320654, 0.004681320395320654, 0.44232088327407837, -0.778782308101654, 0.4865720570087433, -1.4627679586410522, 0.9340428709983826, 1.3147554397583008, -0.014372858218848705, 0.014372858218848705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6189440488815308, -1.2682154178619385, 1.3101778030395508, 1.71950101852417, -0.656710147857666, -1.438735008239746, -0.004681320395320654, 0.004681320395320654, 0.4648279547691345, -0.8321889042854309, 0.5056458115577698, -1.4639123678207397, 0.9145876169204712, 1.332684874534607, -0.014372858218848705, 0.014372858218848705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6185625791549683, -1.3090333938598633, 1.337262511253357, 1.7030975818634033, -0.6345845460891724, -1.4223315715789795, -0.004681320395320654, 0.004681320395320654, 0.482375830411911, -0.8794918656349182, 0.5254825949668884, -1.4623864889144897, 0.8924620151519775, 1.3471808433532715, -0.014372858218848705, 0.014372858218848705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6185625791549683, -1.342221736907959, 1.3578622341156006, 1.6821163892745972, -0.6235218048095703, -1.3990615606307983, -0.004681320395320654, 0.004681320395320654, 0.49191272258758545, -0.9210727214813232, 0.5449378490447998, -1.4642938375473022, 0.8772030472755432, 1.354810357093811, -0.014372858218848705, 0.014372858218848705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6185625791549683, -1.3708323240280151, 1.3715953826904297, 1.6706721782684326, -0.6166552305221558, -1.3784618377685547, -0.004681320395320654, 0.004681320395320654, 0.5014495849609375, -0.9508277773857117, 0.5617227554321289, -1.4658198356628418, 0.8600366115570068, 1.3616769313812256, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6185625791549683, -1.3944838047027588, 1.3807507753372192, 1.658083438873291, -0.615129292011261, -1.3643473386764526, -0.004681320395320654, 0.004681320395320654, 0.508316159248352, -0.9748607873916626, 0.5804150700569153, -1.4654383659362793, 0.8455405235290527, 1.3654917478561401, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6185625791549683, -1.415464997291565, 1.3910505771636963, 1.6489280462265015, -0.6124590039253235, -1.3551918268203735, -0.004681320395320654, 0.004681320395320654, 0.5151827335357666, -0.9985122680664062, 0.5987258553504944, -1.4654383659362793, 0.8382925391197205, 1.3723583221435547, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6185625791549683, -1.4353017807006836, 1.4009689092636108, 1.643587350845337, -0.6132219433784485, -1.3433661460876465, -0.004681320395320654, 0.004681320395320654, 0.5239566564559937, -1.019874930381775, 0.6139848828315735, -1.4646753072738647, 0.8356221914291382, 1.3723583221435547, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6185625791549683, -1.4513237476348877, 1.4105058908462524, 1.6363393068313599, -0.6158922910690308, -1.3338292837142944, -0.004681320395320654, 0.004681320395320654, 0.5300602912902832, -1.0355154275894165, 0.6258106231689453, -1.4623864889144897, 0.8306630253791809, 1.3727397918701172, -0.014372858218848705, 0.014372858218848705], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6185625791549683, -1.4650568962097168, 1.420424222946167, 1.6176470518112183, -0.6181811094284058, -1.3223849534988403, -0.004681320395320654, 0.004681320395320654, 0.5327305793762207, -1.0465781688690186, 0.6349660754203796, -1.4623864889144897, 0.8299000263214111, 1.3731212615966797, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6204699873924255, -1.4768825769424438, 1.4295796155929565, 1.593614101409912, -0.6212329268455505, -1.3040741682052612, -0.004681320395320654, 0.004681320395320654, 0.5323491096496582, -1.0545891523361206, 0.6410696506500244, -1.4627679586410522, 0.8299000263214111, 1.3731212615966797, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6261920928955078, -1.4894713163375854, 1.440260887145996, 1.5669108629226685, -0.6265735626220703, -1.2811856269836426, -0.004681320395320654, 0.004681320395320654, 0.5300602912902832, -1.0603113174438477, 0.6448844075202942, -1.4623864889144897, 0.8299000263214111, 1.3735027313232422, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6334401369094849, -1.5035858154296875, 1.4524681568145752, 1.5493628978729248, -0.6307697892189026, -1.263256311416626, -0.004681320395320654, 0.004681320395320654, 0.5273899435997009, -1.0648889541625977, 0.647936224937439, -1.4627679586410522, 0.8299000263214111, 1.3761730194091797, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6383993029594421, -1.517700433731079, 1.4654383659362793, 1.5360113382339478, -0.6406881809234619, -1.2506675720214844, -0.004681320395320654, 0.004681320395320654, 0.5239566564559937, -1.0679408311843872, 0.650225043296814, -1.4658198356628418, 0.8299000263214111, 1.3761730194091797, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -1.5276188850402832, 1.4749752283096313, 1.5222781896591187, -0.6513695120811462, -1.2403677701950073, -0.004681320395320654, 0.004681320395320654, 0.5231937170028687, -1.0702296495437622, 0.6521324515342712, -1.4658198356628418, 0.8302815556526184, 1.3761730194091797, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6437399983406067, -1.5341038703918457, 1.4799343347549438, 1.5012969970703125, -0.6582360863685608, -1.2277790307998657, -0.004675471223890781, 0.004675471223890781, 0.5220493078231812, -1.0713740587234497, 0.6536583304405212, -1.4654383659362793, 0.8306630253791809, 1.3757915496826172, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6464102864265442, -1.5402075052261353, 1.4852750301361084, 1.4780269861221313, -0.6677729487419128, -1.206416368484497, -0.004675471223890781, 0.004675471223890781, 0.5209048390388489, -1.0732814073562622, 0.6540398001670837, -1.4654383659362793, 0.8306630253791809, 1.3754100799560547, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6525139212608337, -1.5463111400604248, 1.495956301689148, 1.4501793384552002, -0.689517080783844, -1.191157341003418, -0.004640433005988598, 0.004640433005988598, 0.5186160206794739, -1.0748074054718018, 0.654421329498291, -1.4646753072738647, 0.8306630253791809, 1.3738842010498047, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6635767221450806, -1.5520333051681519, 1.5093079805374146, 1.4215686321258545, -0.7230868935585022, -1.176279902458191, -0.004640433005988598, 0.004640433005988598, 0.5167086124420166, -1.0770962238311768, 0.6570916175842285, -1.4623864889144897, 0.8302815556526184, 1.3723583221435547, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6773098111152649, -1.5573738813400269, 1.5218967199325562, 1.3941023349761963, -0.7547493577003479, -1.1686503887176514, -0.004640433005988598, 0.004640433005988598, 0.5136567950248718, -1.0797665119171143, 0.6605249047279358, -1.4623864889144897, 0.8302815556526184, 1.3719768524169922, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6891355514526367, -1.560807228088379, 1.5337224006652832, 1.3746471405029297, -0.7860303521156311, -1.1648355722427368, -0.004646265879273415, 0.004646265879273415, 0.5136567950248718, -1.0824369192123413, 0.6635767221450806, -1.4623864889144897, 0.8306630253791809, 1.3723583221435547, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6994354128837585, -1.5627145767211914, 1.5451667308807373, 1.3483253717422485, -0.8188372850418091, -1.1606394052505493, -0.004640433005988598, 0.004640433005988598, 0.5151827335357666, -1.0839627981185913, 0.6662470698356628, -1.4627679586410522, 0.8318074345588684, 1.3719768524169922, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7063019871711731, -1.5634775161743164, 1.5558480024337769, 1.3113222122192383, -0.8501182794570923, -1.1583504676818848, -0.004646265879273415, 0.004646265879273415, 0.5159456729888916, -1.0854886770248413, 0.6681544184684753, -1.4627679586410522, 0.8329518437385559, 1.3719768524169922, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7135500311851501, -1.5634775161743164, 1.569581151008606, 1.2731746435165405, -0.8855955004692078, -1.1541543006896973, -0.004646265879273415, 0.004646265879273415, 0.5159456729888916, -1.0858701467514038, 0.6689173579216003, -1.4635308980941772, 0.8344777822494507, 1.3681620359420776, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7181277275085449, -1.5573738813400269, 1.580643892288208, 1.2449454069137573, -0.9187838435173035, -1.1537728309631348, -0.004646265879273415, 0.004646265879273415, 0.5159456729888916, -1.0858701467514038, 0.6700618267059326, -1.4658198356628418, 0.8344777822494507, 1.3609139919281006, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7207980751991272, -1.5459296703338623, 1.5882734060287476, 1.2216753959655762, -0.9470130205154419, -1.1537728309631348, -0.004646265879273415, 0.004646265879273415, 0.5159456729888916, -1.0858701467514038, 0.6700618267059326, -1.4654383659362793, 0.8356221914291382, 1.3609139919281006, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7227054238319397, -1.5302891731262207, 1.591325283050537, 1.2071794271469116, -0.9657053351402283, -1.1560616493225098, -0.004640433005988598, 0.004640433005988598, 0.5144197940826416, -1.0858701467514038, 0.6700618267059326, -1.4654383659362793, 0.8344777822494507, 1.360532522201538, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.724612832069397, -1.515411615371704, 1.592851161956787, 1.201838731765747, -0.9760051965713501, -1.1594948768615723, -0.004640433005988598, 0.004640433005988598, 0.5136567950248718, -1.0862516164779663, 0.6700618267059326, -1.4650568962097168, 0.8340963125228882, 1.359769582748413, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.724612832069397, -1.4993896484375, 1.595902919769287, 1.2090867757797241, -0.9817273020744324, -1.1625467538833618, -0.004640433005988598, 0.004640433005988598, 0.5136567950248718, -1.0858701467514038, 0.6700618267059326, -1.4646753072738647, 0.8340963125228882, 1.3570992946624756, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7234683632850647, -1.4806973934173584, 1.6012436151504517, 1.2357900142669678, -0.9870679974555969, -1.1648355722427368, -0.004640433005988598, 0.004640433005988598, 0.5136567950248718, -1.0858701467514038, 0.6700618267059326, -1.4623864889144897, 0.8337147831916809, 1.3563363552093506, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7219424843788147, -1.4631494283676147, 1.6073472499847412, 1.28385591506958, -0.9859235286712646, -1.178568720817566, -0.004640433005988598, 0.004640433005988598, 0.5151827335357666, -1.0858701467514038, 0.6700618267059326, -1.4623864889144897, 0.8321889042854309, 1.3536659479141235, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7177462577819824, -1.4524681568145752, 1.6096360683441162, 1.3498512506484985, -0.9760051965713501, -1.201838731765747, -0.004640433005988598, 0.004640433005988598, 0.5182345509529114, -1.0858701467514038, 0.6700618267059326, -1.4627679586410522, 0.8302815556526184, 1.353284478187561, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7024872303009033, -1.4467459917068481, 1.6012436151504517, 1.403639316558838, -0.9611276388168335, -1.2258716821670532, -0.004640433005988598, 0.004640433005988598, 0.5266270041465759, -1.0858701467514038, 0.6700618267059326, -1.4627679586410522, 0.8306630253791809, 1.3498512506484985, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6784542798995972, -1.4436942338943481, 1.581406831741333, 1.4368276596069336, -0.9424353241920471, -1.258297085762024, -0.004640433005988598, 0.004640433005988598, 0.5395971536636353, -1.0858701467514038, 0.6700618267059326, -1.4631494283676147, 0.8325703740119934, 1.3441290855407715, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6528953909873962, -1.4440757036209106, 1.5543221235275269, 1.4539940357208252, -0.9306095838546753, -1.2888151407241821, -0.004640433005988598, 0.004640433005988598, 0.5529488325119019, -1.0858701467514038, 0.6700618267059326, -1.4631494283676147, 0.838674008846283, 1.337262511253357, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6361104846000671, -1.4478904008865356, 1.5260928869247437, 1.4673457145690918, -0.9199283123016357, -1.3113222122192383, -0.004640433005988598, 0.004640433005988598, 0.5640115737915039, -1.0858701467514038, 0.6700618267059326, -1.4631494283676147, 0.8470664620399475, 1.3345922231674194, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6300068497657776, -1.4524681568145752, 1.50244140625, 1.4719233512878418, -0.916113555431366, -1.3246738910675049, -0.004640433005988598, 0.004640433005988598, 0.5735484957695007, -1.0858701467514038, 0.6700618267059326, -1.4646753072738647, 0.8604180812835693, 1.333447813987732, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6307697892189026, -1.4566643238067627, 1.487182378768921, 1.4745937585830688, -0.9122987985610962, -1.332684874534607, -0.004640433005988598, 0.004640433005988598, 0.577744722366333, -1.0858701467514038, 0.6700618267059326, -1.4654383659362793, 0.8699550032615662, 1.3300144672393799, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6383993029594421, -1.4593347311019897, 1.4787899255752563, 1.4726864099502563, -0.9054322242736816, -1.3361181020736694, -0.004640433005988598, 0.004640433005988598, 0.5807965397834778, -1.0858701467514038, 0.6704432964324951, -1.4654383659362793, 0.8752956390380859, 1.3269627094268799, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.648699164390564, -1.4642938375473022, 1.4761196374893188, 1.4467459917068481, -0.9092469811439514, -1.3361181020736694, -0.004640433005988598, 0.004640433005988598, 0.5857557058334351, -1.0862516164779663, 0.6731135845184326, -1.4646753072738647, 0.8756771087646484, 1.3273441791534424, -0.014363687485456467, 0.014363687485456467], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6555657386779785, -1.4730678796768188, 1.4837491512298584, 1.3750286102294922, -0.9500648379325867, -1.3139925003051758, -0.004640433005988598, 0.004640433005988598, 0.5876630544662476, -1.0866330862045288, 0.6765468716621399, -1.4623864889144897, 0.8756771087646484, 1.3277256488800049, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6677729487419128, -1.4784084558486938, 1.495956301689148, 1.3097963333129883, -1.0042344331741333, -1.2876707315444946, -0.004646265879273415, 0.004646265879273415, 0.5876630544662476, -1.0866330862045288, 0.6795986890792847, -1.4623864889144897, 0.8756771087646484, 1.3284885883331299, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6853207945823669, -1.4780269861221313, 1.5108338594436646, 1.2636377811431885, -1.0523003339767456, -1.2731746435165405, -0.004646265879273415, 0.004646265879273415, 0.5876630544662476, -1.0870145559310913, 0.6807430982589722, -1.4627679586410522, 0.8791103959083557, 1.3307774066925049, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -1.4688715934753418, 1.519226312637329, 1.2323567867279053, -1.0820554494857788, -1.264019250869751, -0.004646265879273415, 0.004646265879273415, 0.5884260535240173, -1.0870145559310913, 0.6815060377120972, -1.4627679586410522, 0.8787289261817932, 1.3307774066925049, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7024872303009033, -1.4555199146270752, 1.5230411291122437, 1.2022202014923096, -1.0992218255996704, -1.260585904121399, -0.004640433005988598, 0.004640433005988598, 0.5884260535240173, -1.0870145559310913, 0.6815060377120972, -1.4631494283676147, 0.8787289261817932, 1.3307774066925049, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7063019871711731, -1.4433127641677856, 1.5238040685653687, 1.187342643737793, -1.10837721824646, -1.2556267976760864, -0.004640433005988598, 0.004640433005988598, 0.5884260535240173, -1.0870145559310913, 0.6815060377120972, -1.4631494283676147, 0.8752956390380859, 1.3311588764190674, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7051575779914856, -1.431486964225769, 1.5260928869247437, 1.185053825378418, -1.1118104457855225, -1.2521934509277344, -0.004640433005988598, 0.004640433005988598, 0.5872815847396851, -1.0870145559310913, 0.6815060377120972, -1.4631494283676147, 0.8756771087646484, 1.3307774066925049, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.697528064250946, -1.41775381565094, 1.5280003547668457, 1.188868522644043, -1.1125733852386475, -1.2483787536621094, -0.004640433005988598, 0.004640433005988598, 0.5872815847396851, -1.0870145559310913, 0.6815060377120972, -1.4631494283676147, 0.8760585784912109, 1.3307774066925049, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6849393248558044, -1.4021133184432983, 1.5333409309387207, 1.1934462785720825, -1.11295485496521, -1.2472343444824219, -0.004640433005988598, 0.004640433005988598, 0.5888075232505798, -1.0870145559310913, 0.6815060377120972, -1.4650568962097168, 0.8764400482177734, 1.3307774066925049, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6689173579216003, -1.3857098817825317, 1.5379186868667603, 1.200312852859497, -1.10990309715271, -1.2449454069137573, -0.004640433005988598, 0.004640433005988598, 0.5910963416099548, -1.0870145559310913, 0.6815060377120972, -1.4658198356628418, 0.8783474564552307, 1.3303959369659424, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6521324515342712, -1.3715953826904297, 1.5375372171401978, 1.2209124565124512, -1.0885404348373413, -1.2457083463668823, -0.004640433005988598, 0.004640433005988598, 0.5914778113365173, -1.0870145559310913, 0.6815060377120972, -1.4658198356628418, 0.8787289261817932, 1.3303959369659424, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6399252414703369, -1.3643473386764526, 1.5234225988388062, 1.272793173789978, -1.051918864250183, -1.261730432510376, -0.004640433005988598, 0.004640433005988598, 0.5918593406677246, -1.0870145559310913, 0.6815060377120972, -1.4654383659362793, 0.8787289261817932, 1.3300144672393799, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6300068497657776, -1.3670176267623901, 1.500152587890625, 1.3490883111953735, -1.0076676607131958, -1.2930114269256592, -0.004640433005988598, 0.004640433005988598, 0.5918593406677246, -1.0870145559310913, 0.6815060377120972, -1.4650568962097168, 0.8787289261817932, 1.3288700580596924, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6170367002487183, -1.3822766542434692, 1.4795528650283813, 1.3986800909042358, -0.9882124066352844, -1.3162813186645508, -0.004640433005988598, 0.004640433005988598, 0.5903334021568298, -1.0870145559310913, 0.6792172193527222, -1.4623864889144897, 0.8775845170021057, 1.3261997699737549, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6036850810050964, -1.3963912725448608, 1.4635308980941772, 1.420424222946167, -0.9763866662979126, -1.3307774066925049, -0.004640433005988598, 0.004640433005988598, 0.5884260535240173, -1.0870145559310913, 0.6776912808418274, -1.4627679586410522, 0.8772030472755432, 1.3151369094848633, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5945296287536621, -1.4078354835510254, 1.4539940357208252, 1.431486964225769, -0.9725719094276428, -1.336499571800232, -0.004640433005988598, 0.004640433005988598, 0.5884260535240173, -1.0870145559310913, 0.6769283413887024, -1.4623864889144897, 0.8916990756988525, 1.3075073957443237, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5895704627037048, -1.416990876197815, 1.4528496265411377, 1.437972068786621, -0.9634165167808533, -1.338788390159607, -0.004640433005988598, 0.004640433005988598, 0.5914778113365173, -1.0870145559310913, 0.6773098111152649, -1.4635308980941772, 0.9054322242736816, 1.3002593517303467, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5872815847396851, -1.4246203899383545, 1.4536125659942627, 1.441023826599121, -0.959983229637146, -1.338788390159607, -0.004640433005988598, 0.004640433005988598, 0.5945296287536621, -1.0870145559310913, 0.6776912808418274, -1.4631494283676147, 0.9172579646110535, 1.2994964122772217, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5872815847396851, -1.4318684339523315, 1.4536125659942627, 1.437209129333496, -0.955024003982544, -1.334973692893982, -0.004640433005988598, 0.004640433005988598, 0.5968185067176819, -1.0870145559310913, 0.6788357496261597, -1.4631494283676147, 0.9214541912078857, 1.2994964122772217, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5933852195739746, -1.436446189880371, 1.4513237476348877, 1.4280537366867065, -0.952735185623169, -1.3273441791534424, -0.004640433005988598, 0.004640433005988598, 0.5987258553504944, -1.0870145559310913, 0.6795986890792847, -1.4631494283676147, 0.926413357257843, 1.2994964122772217, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6109330654144287, -1.439497947692871, 1.4497978687286377, 1.412413239479065, -0.9634165167808533, -1.3200961351394653, -0.004640433005988598, 0.004640433005988598, 0.6013962030410767, -1.0870145559310913, 0.6799801588058472, -1.4658198356628418, 0.9313725233078003, 1.2994964122772217, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6292439103126526, -1.4444571733474731, 1.4547569751739502, 1.3719768524169922, -1.0011825561523438, -1.2953002452850342, -0.004640433005988598, 0.004640433005988598, 0.6033035516738892, -1.0870145559310913, 0.6799801588058472, -1.4654383659362793, 0.9367132186889648, 1.2994964122772217, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6475547552108765, -1.4463645219802856, 1.4745937585830688, 1.3288700580596924, -1.0553520917892456, -1.2651636600494385, -0.004640433005988598, 0.004640433005988598, 0.6010147333145142, -1.0870145559310913, 0.6803616285324097, -1.4654383659362793, 0.9412909150123596, 1.2972075939178467, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6635767221450806, -1.4383535385131836, 1.495956301689148, 1.2876707315444946, -1.0893033742904663, -1.2521934509277344, -0.004640433005988598, 0.004640433005988598, 0.5979629158973694, -1.0870145559310913, 0.6799801588058472, -1.4646753072738647, 0.9435797929763794, 1.2968261241912842, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6700618267059326, -1.4311054944992065, 1.508926510810852, 1.2357900142669678, -1.117151141166687, -1.2239643335342407, -0.004640433005988598, 0.004640433005988598, 0.5945296287536621, -1.0870145559310913, 0.6799801588058472, -1.4639123678207397, 0.9462500810623169, 1.2956817150115967, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6620507836341858, -1.4238574504852295, 1.510452389717102, 1.1629282236099243, -1.1400396823883057, -1.188105583190918, -0.004640433005988598, 0.004640433005988598, 0.5910963416099548, -1.0870145559310913, 0.6799801588058472, -1.4623864889144897, 0.9454871416091919, 1.2930114269256592, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6540398001670837, -1.410887360572815, 1.503204345703125, 1.1255435943603516, -1.1453803777694702, -1.1728465557098389, -0.004640433005988598, 0.004640433005988598, 0.5865186452865601, -1.0870145559310913, 0.6799801588058472, -1.4627679586410522, 0.9454871416091919, 1.2914854288101196, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6437399983406067, -1.3941023349761963, 1.491378664970398, 1.1247806549072266, -1.1369879245758057, -1.1652170419692993, -0.004640433005988598, 0.004640433005988598, 0.5849927663803101, -1.0870145559310913, 0.6799801588058472, -1.4627679586410522, 0.9454871416091919, 1.2880522012710571, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6376363635063171, -1.3754100799560547, 1.4852750301361084, 1.128213882446289, -1.125162124633789, -1.1652170419692993, -0.004640433005988598, 0.004640433005988598, 0.5846112966537476, -1.0870145559310913, 0.6803616285324097, -1.4627679586410522, 0.9451056718826294, 1.2827115058898926, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6345845460891724, -1.3570992946624756, 1.4837491512298584, 1.1476691961288452, -1.116388201713562, -1.1655985116958618, -0.004640433005988598, 0.004640433005988598, 0.5834668278694153, -1.0870145559310913, 0.6799801588058472, -1.4627679586410522, 0.9428167939186096, 1.281567096710205, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6254291534423828, -1.338788390159607, 1.4894713163375854, 1.1640726327896118, -1.1072328090667725, -1.1663614511489868, -0.004640433005988598, 0.004640433005988598, 0.5823224186897278, -1.0870145559310913, 0.6799801588058472, -1.4627679586410522, 0.9424353241920471, 1.27927827835083, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6132219433784485, -1.3204776048660278, 1.494430422782898, 1.1743724346160889, -1.1037994623184204, -1.1697947978973389, -0.004640433005988598, 0.004640433005988598, 0.5804150700569153, -1.0870145559310913, 0.6799801588058472, -1.4639123678207397, 0.9336614012718201, 1.27775239944458, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6029220819473267, -1.2953002452850342, 1.489852786064148, 1.1861982345581055, -1.1037994623184204, -1.1697947978973389, -0.004640433005988598, 0.004640433005988598, 0.5758373141288757, -1.0870145559310913, 0.6773098111152649, -1.4650568962097168, 0.9157320261001587, 1.2781338691711426, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5937666893005371, -1.2579156160354614, 1.4692530632019043, 1.206416368484497, -1.0984588861465454, -1.1705577373504639, -0.004640433005988598, 0.004640433005988598, 0.5621042251586914, -1.0801479816436768, 0.6662470698356628, -1.4654383659362793, 0.8783474564552307, 1.27927827835083, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5895704627037048, -1.2067978382110596, 1.4326313734054565, 1.2384604215621948, -1.0721369981765747, -1.177805781364441, -0.004640433005988598, 0.004640433005988598, 0.5460822582244873, -1.046959638595581, 0.6372548937797546, -1.4646753072738647, 0.8173113465309143, 1.2819485664367676, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5888075232505798, -1.1560616493225098, 1.3933393955230713, 1.267071008682251, -1.0351338386535645, -1.1854352951049805, -0.004640433005988598, 0.004640433005988598, 0.5148012638092041, -0.9992752075195312, 0.6017776727676392, -1.4620050191879272, 0.7372015118598938, 1.2937743663787842, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5869001150131226, -1.109140157699585, 1.3570992946624756, 1.3052185773849487, -0.997367799282074, -1.2022202014923096, -0.004640433005988598, 0.004640433005988598, 0.4705500900745392, -0.9603646993637085, 0.5716410875320435, -1.4623864889144897, 0.6731135845184326, 1.3090333938598633, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5849927663803101, -1.0683223009109497, 1.3254368305206299, 1.341458797454834, -0.9645609259605408, -1.2228199243545532, -0.004640433005988598, 0.004640433005988598, 0.4182879328727722, -0.9309910535812378, 0.5476081371307373, -1.4623864889144897, 0.6166552305221558, 1.3200961351394653, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.580033540725708, -1.039711594581604, 1.3021668195724487, 1.362058401107788, -0.9470130205154419, -1.2380788326263428, -0.004640433005988598, 0.004640433005988598, 0.3526741564273834, -0.9149690866470337, 0.5327305793762207, -1.4627679586410522, 0.5796520709991455, 1.3315403461456299, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5678263306617737, -1.0137712955474854, 1.280041217803955, 1.3776988983154297, -0.9336614012718201, -1.2506675720214844, -0.004640433005988598, 0.004640433005988598, 0.26798656582832336, -0.9061951637268066, 0.5212863087654114, -1.4623864889144897, 0.5579079985618591, 1.3506141901016235, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5563820600509644, -0.9924086332321167, 1.259060025215149, 1.3876173496246338, -0.9267948269844055, -1.2563897371292114, -0.004640433005988598, 0.004640433005988598, 0.17032882571220398, -0.9019989371299744, 0.5106050372123718, -1.4627679586410522, 0.5464637279510498, 1.361295461654663, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.54264897108078, -0.9748607873916626, 1.2388418912887573, 1.3895246982574463, -0.9233615398406982, -1.2602044343948364, -0.004640433005988598, 0.004640433005988598, 0.07457847148180008, -0.8997100591659546, 0.4983977973461151, -1.4631494283676147, 0.541886031627655, 1.3658732175827026, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5292973518371582, -0.9603646993637085, 1.2197680473327637, 1.3944838047027588, -0.9203097820281982, -1.2609673738479614, -0.004640433005988598, 0.004640433005988598, -0.0024795911740511656, -0.8985656499862671, 0.4869535267353058, -1.4662013053894043, 0.5388342142105103, 1.3685435056686401, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5167086124420166, -0.9496833682060242, 1.2045090198516846, 1.3921949863433838, -0.919165313243866, -1.2636377811431885, -0.004640433005988598, 0.004640433005988598, -0.06504157930612564, -0.9050507545471191, 0.47627222537994385, -1.4654383659362793, 0.5350194573402405, 1.359006643295288, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5098420977592468, -0.9439612627029419, 1.193827748298645, 1.3887617588043213, -0.919165313243866, -1.2636377811431885, -0.004640433005988598, 0.004640433005988598, -0.12302586436271667, -0.9260318875312805, 0.4697871506214142, -1.4654383659362793, 0.534637987613678, 1.350232720375061, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5064088106155396, -0.9397650361061096, 1.1877241134643555, 1.3879988193511963, -0.919165313243866, -1.263256311416626, -0.004640433005988598, 0.004640433005988598, -0.16422522068023682, -0.9485389590263367, 0.465209424495697, -1.4650568962097168, 0.536926805973053, 1.3345922231674194, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5025940537452698, -0.9386205673217773, 1.184290885925293, 1.3860913515090942, -0.919165313243866, -1.259822964668274, -0.004640433005988598, 0.004640433005988598, -0.19207294285297394, -0.9668498039245605, 0.46215763688087463, -1.4623864889144897, 0.5388342142105103, 1.3265812397003174, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5025940537452698, -0.9378576278686523, 1.1839094161987305, 1.3849469423294067, -0.918402373790741, -1.2594414949417114, -0.004640433005988598, 0.004640433005988598, -0.20885786414146423, -0.9809643626213074, 0.45986875891685486, -1.4627679586410522, 0.5388342142105103, 1.3185702562332153, -0.014345351606607437, 0.014345351606607437], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.50030517578125, -0.9378576278686523, 1.182383418083191, 1.3853284120559692, -0.918402373790741, -1.256008267402649, -0.004640433005988598, 0.004640433005988598, -0.21839475631713867, -0.9897382855415344, 0.45910581946372986, -1.4616235494613647, 0.5365453362464905, 1.3158998489379883, -0.014464674517512321, 0.014464674517512321], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4991607666015625, -0.9378576278686523, 1.1820019483566284, 1.3879988193511963, -0.918402373790741, -1.2556267976760864, -0.004640433005988598, 0.004640433005988598, -0.22793163359165192, -0.9954604506492615, 0.45757991075515747, -1.4623864889144897, 0.5415045619010925, 1.3178073167800903, -0.021784763783216476, 0.021784763783216476], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4968718886375427, -0.9378576278686523, 1.182383418083191, 1.3879988193511963, -0.916113555431366, -1.2529563903808594, -0.004640433005988598, 0.004640433005988598, -0.23556114733219147, -0.995841920375824, 0.45948728919029236, -1.4658198356628418, 0.543411910533905, 1.3246738910675049, -0.02987726405262947, 0.02987726405262947], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4968718886375427, -0.9378576278686523, 1.1839094161987305, 1.3868544101715088, -0.916113555431366, -1.2529563903808594, -0.004640433005988598, 0.004640433005988598, -0.23632410168647766, -0.9832532405853271, 0.46139466762542725, -1.4654383659362793, 0.543411910533905, 1.3273441791534424, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4972533881664276, -0.9378576278686523, 1.187342643737793, 1.3841840028762817, -0.916113555431366, -1.2525749206542969, -0.004640433005988598, 0.004640433005988598, -0.2294575423002243, -0.9515907764434814, 0.46215763688087463, -1.4654383659362793, 0.5437933802604675, 1.334973692893982, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4972533881664276, -0.9348058104515076, 1.19764244556427, 1.3895246982574463, -0.916876494884491, -1.2529563903808594, -0.004640433005988598, 0.004640433005988598, -0.20618753135204315, -0.8928435444831848, 0.4648279547691345, -1.4650568962097168, 0.5437933802604675, 1.3536659479141235, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4972533881664276, -0.9222171306610107, 1.2186236381530762, 1.4246203899383545, -0.9180209040641785, -1.2754634618759155, -0.004640433005988598, 0.004640433005988598, -0.1504921019077301, -0.8150225281715393, 0.4720759987831116, -1.4650568962097168, 0.54264897108078, 1.3651102781295776, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4961089491844177, -0.9012359976768494, 1.2449454069137573, 1.5012969970703125, -0.924887478351593, -1.3292515277862549, -0.004640433005988598, 0.004640433005988598, -0.05664911866188049, -0.7543678879737854, 0.49038681387901306, -1.4623864889144897, 0.5563820600509644, 1.3738842010498047, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49382010102272034, -0.8741512298583984, 1.273556113243103, 1.6157397031784058, -0.9500648379325867, -1.405928134918213, -0.004640433005988598, 0.004640433005988598, 0.05855649709701538, -0.7215610146522522, 0.5086976289749146, -1.4623864889144897, 0.5884260535240173, 1.3807507753372192, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47589075565338135, -0.8440146446228027, 1.2972075939178467, 1.7240787744522095, -0.9821087718009949, -1.4780269861221313, -0.004640433005988598, 0.004640433005988598, 0.17261768877506256, -0.7043945789337158, 0.5178530812263489, -1.4620050191879272, 0.6212329268455505, 1.4055466651916504, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43240252137184143, -0.8173113465309143, 1.3097963333129883, 1.7919813394546509, -1.0046159029006958, -1.5325779914855957, -0.004640433005988598, 0.004640433005988598, 0.27065691351890564, -0.6952391862869263, 0.5220493078231812, -1.4620050191879272, 0.6448844075202942, 1.4303425550460815, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36717021465301514, -0.7990005612373352, 1.3017853498458862, 1.8282215595245361, -1.0290303230285645, -1.5962843894958496, -0.004640433005988598, 0.004640433005988598, 0.3538185656070709, -0.692568838596344, 0.5247195959091187, -1.4623864889144897, 0.6662470698356628, 1.4478904008865356, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.30155640840530396, -0.7902265787124634, 1.272030234336853, 1.8362325429916382, -1.0530632734298706, -1.6378653049468994, -0.004640433005988598, 0.004640433005988598, 0.4171435236930847, -0.6994354128837585, 0.5258640646934509, -1.4627679586410522, 0.6818875670433044, 1.4589532613754272, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25196459889411926, -0.7864118218421936, 1.2293049097061157, 1.8324178457260132, -1.0687037706375122, -1.661516785621643, -0.004640433005988598, 0.004640433005988598, 0.4674982726573944, -0.7131685614585876, 0.5262455344200134, -1.4627679586410522, 0.6921873688697815, 1.4642938375473022, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20542457699775696, -0.7867932915687561, 1.182383418083191, 1.8266956806182861, -1.0709925889968872, -1.6794461011886597, -0.004640433005988598, 0.004640433005988598, 0.5045014023780823, -0.7295719981193542, 0.5262455344200134, -1.4627679586410522, 0.7028687000274658, 1.4669642448425293, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17147326469421387, -0.7936598658561707, 1.1415655612945557, 1.8141069412231445, -1.0606927871704102, -1.6893644332885742, -0.004640433005988598, 0.004640433005988598, 0.5296788215637207, -0.7433050870895386, 0.5262455344200134, -1.4631494283676147, 0.7108796834945679, 1.4696345329284668, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1520180106163025, -0.8089188933372498, 1.103417992591858, 1.8030441999435425, -1.0423818826675415, -1.6954680681228638, -0.004640433005988598, 0.004640433005988598, 0.5457007884979248, -0.7520790696144104, 0.5258640646934509, -1.4662013053894043, 0.7120240926742554, 1.4703974723815918, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13866636157035828, -0.8299000263214111, 1.0667964220046997, 1.797703504562378, -1.02216374874115, -1.7015717029571533, -0.004640433005988598, 0.004640433005988598, 0.5563820600509644, -0.7566567659378052, 0.5258640646934509, -1.4658198356628418, 0.7158388495445251, 1.4738308191299438, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1340886503458023, -0.8535515666007996, 1.0370413064956665, 1.7889295816421509, -0.9992752075195312, -1.7027161121368408, -0.004640433005988598, 0.004640433005988598, 0.5640115737915039, -0.7593270540237427, 0.5254825949668884, -1.4658198356628418, 0.7181277275085449, 1.4738308191299438, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13141833245754242, -0.8775845170021057, 1.0160601139068604, 1.7843518257141113, -0.9828717708587646, -1.7061493396759033, -0.004640433005988598, 0.004640433005988598, 0.568970799446106, -0.760471522808075, 0.5254825949668884, -1.4654383659362793, 0.7185091972351074, 1.4738308191299438, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12874799966812134, -0.8981841802597046, 0.9996566772460938, 1.7797741889953613, -0.970283031463623, -1.7095826864242554, -0.004640433005988598, 0.004640433005988598, 0.5731670260429382, -0.7612344622612, 0.5254825949668884, -1.4646753072738647, 0.7185091972351074, 1.4738308191299438, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12836651504039764, -0.9115357995033264, 0.9843976497650146, 1.7805371284484863, -0.9531166553497314, -1.7137788534164429, -0.004640433005988598, 0.004640433005988598, 0.577744722366333, -0.7612344622612, 0.5254825949668884, -1.4646753072738647, 0.7185091972351074, 1.4738308191299438, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12836651504039764, -0.9203097820281982, 0.970283031463623, 1.7805371284484863, -0.9370946884155273, -1.7183566093444824, -0.004640433005988598, 0.004640433005988598, 0.5830853581428528, -0.7612344622612, 0.5254825949668884, -1.4627679586410522, 0.7185091972351074, 1.4780269861221313, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12951095402240753, -0.925650417804718, 0.959220290184021, 1.7805371284484863, -0.9260318875312805, -1.722934365272522, -0.004640433005988598, 0.004640433005988598, 0.5869001150131226, -0.7612344622612, 0.5254825949668884, -1.4623864889144897, 0.7188906669616699, 1.4829862117767334, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13942931592464447, -0.9287022352218628, 0.951209306716919, 1.7797741889953613, -0.9210727214813232, -1.7248417139053345, -0.004640433005988598, 0.004640433005988598, 0.5876630544662476, -0.7612344622612, 0.5254825949668884, -1.4623864889144897, 0.7188906669616699, 1.484893560409546, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15430685877799988, -0.9306095838546753, 0.9466315507888794, 1.7767223119735718, -0.9195467829704285, -1.7301822900772095, -0.004640433005988598, 0.004640433005988598, 0.5907148718833923, -0.7612344622612, 0.5254825949668884, -1.4627679586410522, 0.7188906669616699, 1.4852750301361084, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1661325991153717, -0.9325169920921326, 0.9439612627029419, 1.7771037817001343, -0.916876494884491, -1.7401007413864136, -0.004640433005988598, 0.004640433005988598, 0.5945296287536621, -0.7612344622612, 0.5254825949668884, -1.4627679586410522, 0.7188906669616699, 1.4887083768844604, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17566949129104614, -0.9344243407249451, 0.9431982636451721, 1.7767223119735718, -0.9225986003875732, -1.7473487854003906, -0.010230240412056446, 0.010230240412056446, 0.5979629158973694, -0.7612344622612, 0.5254825949668884, -1.4627679586410522, 0.7188906669616699, 1.489852786064148, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.182917520403862, -0.9344243407249451, 0.951209306716919, 1.7759593725204468, -0.9279392957687378, -1.7515449523925781, -0.027690168470144272, 0.027690168470144272, 0.5979629158973694, -0.7612344622612, 0.5254825949668884, -1.4627679586410522, 0.7188906669616699, 1.4925230741500854, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1981765478849411, -0.9302281141281128, 0.970283031463623, 1.7759593725204468, -0.951209306716919, -1.7511634826660156, -0.03126486763358116, 0.03126486763358116, 0.5968185067176819, -0.7612344622612, 0.5254825949668884, -1.4631494283676147, 0.7200350761413574, 1.492141604423523, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22220951318740845, -0.9164950251579285, 0.9924086332321167, 1.7805371284484863, -0.9718089699745178, -1.7507820129394531, -0.034, 0.034, 0.5945296287536621, -0.7612344622612, 0.5254825949668884, -1.4631494283676147, 0.7230868935585022, 1.4925230741500854, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.25654229521751404, -0.8939879536628723, 1.0255969762802124, 1.820973515510559, -1.0034713745117188, -1.7545968294143677, -0.034, 0.034, 0.5922408103942871, -0.7612344622612, 0.5254825949668884, -1.4631494283676147, 0.7257572412490845, 1.4925230741500854, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2813382148742676, -0.8642328381538391, 1.0618371963500977, 1.8682764768600464, -1.046196699142456, -1.7702373266220093, -0.034, 0.034, 0.5903334021568298, -0.7612344622612, 0.5254825949668884, -1.4662013053894043, 0.726901650428772, 1.492141604423523, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.30537116527557373, -0.8203631639480591, 1.0870145559310913, 1.8869688510894775, -1.0687037706375122, -1.7679483890533447, -0.02215348742902279, 0.02215348742902279, 0.5884260535240173, -0.7406347990036011, 0.5254825949668884, -1.4658198356628418, 0.7295719981193542, 1.491378664970398, -0.014935843646526337, 0.014935843646526337], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33131152391433716, -0.7475013136863708, 1.0740443468093872, 1.8568322658538818, -1.0450522899627686, -1.720263957977295, -4.421240373631008e-05, 4.421240373631008e-05, 0.5991073250770569, -0.6307697892189026, 0.506027340888977, -1.4654383659362793, 0.6723506450653076, 1.4887083768844604, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.34657052159309387, -0.6620507836341858, 1.0210193395614624, 1.8347066640853882, -0.9657053351402283, -1.7042419910430908, -0.0, 0.0, 0.5884260535240173, -0.4999237060546875, 0.4884794354438782, -1.4616235494613647, 0.6040665507316589, 1.5142672061920166, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36488136649131775, -0.5861371755599976, 0.9500648379325867, 1.8068588972091675, -0.8669031858444214, -1.6889829635620117, -0.0, 0.0, 0.5643930435180664, -0.39578089118003845, 0.47550925612449646, -1.4639123678207397, 0.5666819214820862, 1.5375372171401978, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3866254687309265, -0.507553219795227, 0.8585107326507568, 1.7877851724624634, -0.7448310256004333, -1.6741054058074951, -0.0, 0.0, 0.5605783462524414, -0.3126192092895508, 0.45796138048171997, -1.4650568962097168, 0.5285343527793884, 1.5463111400604248, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -0.42858776450157166, 0.7589455842971802, 1.7736705541610718, -0.6147478222846985, -1.6664758920669556, -0.0, 0.0, 0.5758373141288757, -0.2298390120267868, 0.4201953113079071, -1.4658198356628418, 0.4659723937511444, 1.5569924116134644, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44651713967323303, -0.3408484160900116, 0.657473087310791, 1.7656595706939697, -0.4858091175556183, -1.663042664527893, -0.0, 0.0, 0.6177996397018433, -0.1325627565383911, 0.35191118717193604, -1.4620050191879272, 0.3881513774394989, 1.5634775161743164, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46177613735198975, -0.25310903787612915, 0.5594338774681091, 1.7614632844924927, -0.3747997283935547, -1.663805603981018, -0.0, 0.0, 0.6700618267059326, -0.022697795182466507, 0.2622644305229187, -1.4623864889144897, 0.2912565767765045, 1.5684367418289185, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4709315598011017, -0.1825360506772995, 0.482375830411911, 1.740482211112976, -0.3076600432395935, -1.6680018901824951, -0.0, 0.0, 0.726901650428772, 0.06313420087099075, 0.16422522068023682, -1.4620050191879272, 0.17948424816131592, 1.5714884996414185, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49114975333213806, -0.14286258816719055, 0.42896926403045654, 1.7099641561508179, -0.2775234580039978, -1.6714351177215576, -0.0, 0.0, 0.7665750980377197, 0.10509651154279709, 0.07724879682064056, -1.4623864889144897, 0.058175019919872284, 1.5749218463897705, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5289158225059509, -0.12111848592758179, 0.39692530035972595, 1.7004272937774658, -0.2595941126346588, -1.6718165874481201, -0.0, 0.0, 0.7940413355827332, 0.12073700875043869, 0.02384222112596035, -1.4623864889144897, -0.004005493130534887, 1.578355073928833, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5754558444023132, -0.10776684433221817, 0.38090333342552185, 1.6977568864822388, -0.2454795092344284, -1.6718165874481201, -0.0, 0.0, 0.8199816942214966, 0.1180666834115982, -0.013542382046580315, -1.4627679586410522, -0.04558632895350456, 1.5691996812820435, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6280995011329651, -0.1024261862039566, 0.3725108802318573, 1.7061493396759033, -0.24052032828330994, -1.6718165874481201, -0.0, 0.0, 0.8398184180259705, 0.10967422276735306, -0.03337911143898964, -1.4635308980941772, -0.07991912961006165, 1.5558480024337769, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6815060377120972, -0.09327077120542526, 0.3614480793476105, 1.7130159139633179, -0.23365376889705658, -1.6718165874481201, -0.0, 0.0, 0.8478294014930725, 0.10433356463909149, -0.04444190114736557, -1.4635308980941772, -0.09746700525283813, 1.5440223217010498, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7139315009117126, -0.0711451917886734, 0.33207446336746216, 1.7038605213165283, -0.22182802855968475, -1.6721980571746826, -0.0, 0.0, 0.8501182794570923, 0.10166323184967041, -0.049782559275627136, -1.4658198356628418, -0.10624094307422638, 1.5436408519744873, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.734149694442749, -0.024605173617601395, 0.27218279242515564, 1.6599907875061035, -0.16994735598564148, -1.6752498149871826, -0.0, 0.0, 0.839436948299408, 0.10051880776882172, -0.05245288833975792, -1.4658198356628418, -0.11348897218704224, 1.5535591840744019, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7490272521972656, 0.02384222112596035, 0.19436179101467133, 1.6275653839111328, -0.0879301130771637, -1.6752498149871826, -0.0, 0.0, 0.8299000263214111, 0.09975585341453552, -0.05397878959774971, -1.4650568962097168, -0.11539635062217712, 1.5634775161743164, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7661936283111572, 0.05855649709701538, 0.12378881871700287, 1.6065843105316162, -0.01735713705420494, -1.6756312847137451, -0.0, 0.0, 0.8260852694511414, 0.09937438368797302, -0.054741740226745605, -1.4650568962097168, -0.1192111074924469, 1.5714884996414185, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7841230034828186, 0.07381551712751389, 0.07267109304666519, 1.6035324335098267, 0.01926451548933983, -1.6760128736495972, -0.0, 0.0, 0.8234149813652039, 0.09937438368797302, -0.054741740226745605, -1.4650568962097168, -0.1192111074924469, 1.576066255569458, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7951858043670654, 0.07915617525577545, 0.03185320645570755, 1.6077287197113037, 0.04634927958250046, -1.6790646314620972, -0.0, 0.0, 0.8222705721855164, 0.09937438368797302, -0.054741740226745605, -1.4627679586410522, -0.11959258466959, 1.579118013381958, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8009079098701477, 0.07457847148180008, -0.005149920005351305, 1.6103990077972412, 0.07381551712751389, -1.6836423873901367, -0.0, 0.0, 0.8215075731277466, 0.09937438368797302, -0.054741740226745605, -1.4623864889144897, -0.11959258466959, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8096818327903748, 0.06542305648326874, -0.032616160809993744, 1.6351948976516724, 0.1031891331076622, -1.6943236589431763, -0.0, 0.0, 0.8215075731277466, 0.09937438368797302, -0.054741740226745605, -1.4627679586410522, -0.11959258466959, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8241779208183289, 0.05970092490315437, -0.04482337832450867, 1.662279725074768, 0.12340734153985977, -1.6989012956619263, -0.0, 0.0, 0.8215075731277466, 0.09975585341453552, -0.054741740226745605, -1.4627679586410522, -0.11959258466959, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8398184180259705, 0.0558861680328846, -0.051689937710762024, 1.6897459030151367, 0.1337071806192398, -1.7019531726837158, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.054741740226745605, -1.4631494283676147, -0.11959258466959, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8520256280899048, 0.053215838968753815, -0.054741740226745605, 1.7103456258773804, 0.13904783129692078, -1.7034790515899658, -0.0, 0.0, 0.8207446336746216, 0.09937438368797302, -0.054741740226745605, -1.4635308980941772, -0.11959258466959, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8569847941398621, 0.05283436179161072, -0.056267641484737396, 1.7191195487976074, 0.14171816408634186, -1.7084382772445679, -0.0, 0.0, 0.8207446336746216, 0.09937438368797302, -0.054741740226745605, -1.4639123678207397, -0.11959258466959, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8607995510101318, 0.05245288833975792, -0.05664911866188049, 1.7278934717178345, 0.14209964871406555, -1.7095826864242554, -0.0, 0.0, 0.8207446336746216, 0.09937438368797302, -0.054741740226745605, -1.4654383659362793, -0.11959258466959, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8642328381538391, 0.05855649709701538, -0.06160829961299896, 1.7385748624801636, 0.14248111844062805, -1.725986123085022, -0.0, 0.0, 0.8207446336746216, 0.09937438368797302, -0.054741740226745605, -1.4654383659362793, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8661402463912964, 0.08220797777175903, -0.0715266615152359, 1.7408636808395386, 0.1497291475534439, -1.727512001991272, -0.0, 0.0, 0.8203631639480591, 0.09937438368797302, -0.054741740226745605, -1.4654383659362793, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8676661252975464, 0.09899290651082993, -0.07915617525577545, 1.7233158349990845, 0.152399480342865, -1.7076753377914429, -0.0, 0.0, 0.8203631639480591, 0.09937438368797302, -0.054741740226745605, -1.4654383659362793, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8707179427146912, 0.10891126841306686, -0.08258945494890213, 1.7034790515899658, 0.15621423721313477, -1.6851682662963867, -0.0, 0.0, 0.8203631639480591, 0.09937438368797302, -0.054741740226745605, -1.4650568962097168, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8710994124412537, 0.11348897218704224, -0.08411535620689392, 1.6889829635620117, 0.15735866129398346, -1.6733424663543701, -0.0, 0.0, 0.8203631639480591, 0.09937438368797302, -0.054741740226745605, -1.4650568962097168, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8733882904052734, 0.11577782779932022, -0.08525978773832321, 1.6824978590011597, 0.15735866129398346, -1.6634241342544556, -0.0, 0.0, 0.8203631639480591, 0.09937438368797302, -0.054741740226745605, -1.4646753072738647, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8730067610740662, 0.11730372905731201, -0.08525978773832321, 1.6767758131027222, 0.15735866129398346, -1.6592278480529785, -0.0, 0.0, 0.8203631639480591, 0.09937438368797302, -0.054741740226745605, -1.4620050191879272, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8726252913475037, 0.11692225188016891, -0.08525978773832321, 1.6756312847137451, 0.15659570693969727, -1.6592278480529785, -0.0, 0.0, 0.8203631639480591, 0.09937438368797302, -0.054741740226745605, -1.4620050191879272, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11577782779932022, -0.08525978773832321, 1.6752498149871826, 0.15583276748657227, -1.6599907875061035, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.054741740226745605, -1.4623864889144897, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11463340371847153, -0.08525978773832321, 1.6752498149871826, 0.15430685877799988, -1.663805603981018, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.054741740226745605, -1.4623864889144897, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11463340371847153, -0.08525978773832321, 1.6752498149871826, 0.15430685877799988, -1.6641870737075806, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.054741740226745605, -1.4627679586410522, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11425192654132843, -0.08525978773832321, 1.6748683452606201, 0.15430685877799988, -1.6657129526138306, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.054741740226745605, -1.4631494283676147, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11387044936418533, -0.08525978773832321, 1.6748683452606201, 0.15430685877799988, -1.667620301246643, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.054741740226745605, -1.4639123678207397, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11387044936418533, -0.08525978773832321, 1.6748683452606201, 0.15430685877799988, -1.6680018901824951, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.054741740226745605, -1.4658198356628418, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11387044936418533, -0.08525978773832321, 1.6748683452606201, 0.15430685877799988, -1.667620301246643, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.0551232174038887, -1.4654383659362793, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11387044936418533, -0.08525978773832321, 1.6752498149871826, 0.15430685877799988, -1.6680018901824951, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.054741740226745605, -1.4654383659362793, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11348897218704224, -0.08525978773832321, 1.6748683452606201, 0.15430685877799988, -1.667620301246643, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.054741740226745605, -1.4654383659362793, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11348897218704224, -0.08525978773832321, 1.6748683452606201, 0.15430685877799988, -1.6680018901824951, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.054741740226745605, -1.4650568962097168, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11348897218704224, -0.08525978773832321, 1.6748683452606201, 0.15430685877799988, -1.6680018901824951, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.0551232174038887, -1.4650568962097168, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11348897218704224, -0.08525978773832321, 1.6748683452606201, 0.15430685877799988, -1.6680018901824951, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.054741740226745605, -1.4646753072738647, -0.1199740618467331, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11348897218704224, -0.08525978773832321, 1.6748683452606201, 0.15430685877799988, -1.6680018901824951, -0.0, 0.0, 0.8211261034011841, 0.09937438368797302, -0.0555046908557415, -1.4620050191879272, -0.1203555315732956, 1.5821698904037476, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11348897218704224, -0.08525978773832321, 1.6752498149871826, 0.15430685877799988, -1.6680018901824951, -0.0, 0.0, 0.8211261034011841, 0.09975585341453552, -0.05855649709701538, -1.4623864889144897, -0.12531471252441406, 1.5817883014678955, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11348897218704224, -0.08525978773832321, 1.6752498149871826, 0.15430685877799988, -1.6680018901824951, -0.0, 0.0, 0.8222705721855164, 0.11463340371847153, -0.06542305648326874, -1.4623864889144897, -0.12798504531383514, 1.5772106647491455, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.11348897218704224, -0.08525978773832321, 1.6752498149871826, 0.15468832850456238, -1.6683833599090576, -0.0, 0.0, 0.8279926776885986, 0.13141833245754242, -0.07267109304666519, -1.4627679586410522, -0.13218127191066742, 1.562333106994629, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, 0.11348897218704224, -0.08525978773832321, 1.6752498149871826, 0.15430685877799988, -1.6683833599090576, -0.0, 0.0, 0.8279926776885986, 0.14095520973205566, -0.07648584991693497, -1.4631494283676147, -0.1337071806192398, 1.5588998794555664, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, 0.11348897218704224, -0.08487831056118011, 1.6752498149871826, 0.15430685877799988, -1.6683833599090576, -0.0, 0.0, 0.8295185565948486, 0.14553292095661163, -0.07763027399778366, -1.4635308980941772, -0.1340886503458023, 1.5543221235275269, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, 0.11272602528333664, -0.08487831056118011, 1.6752498149871826, 0.15468832850456238, -1.6683833599090576, -0.0, 0.0, 0.8314259648323059, 0.14858472347259521, -0.07763027399778366, -1.4639123678207397, -0.1333257108926773, 1.5516518354415894, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, 0.11272602528333664, -0.08487831056118011, 1.6752498149871826, 0.15430685877799988, -1.6687648296356201, -0.0, 0.0, 0.8318074345588684, 0.1493476778268814, -0.07686731964349747, -1.4642938375473022, -0.13103684782981873, 1.5512703657150269, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, 0.11272602528333664, -0.08487831056118011, 1.6752498149871826, 0.15430685877799988, -1.6714351177215576, -0.0, 0.0, 0.8340963125228882, 0.1493476778268814, -0.07686731964349747, -1.4658198356628418, -0.12912946939468384, 1.5474555492401123, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, 0.11272602528333664, -0.08487831056118011, 1.6752498149871826, 0.15430685877799988, -1.6714351177215576, -0.0, 0.0, 0.8340963125228882, 0.1493476778268814, -0.07686731964349747, -1.4654383659362793, -0.12836651504039764, 1.5478370189666748, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, 0.11272602528333664, -0.08487831056118011, 1.6752498149871826, 0.15430685877799988, -1.6710536479949951, -0.0, 0.0, 0.8340963125228882, 0.1493476778268814, -0.07686731964349747, -1.4654383659362793, -0.12798504531383514, 1.5478370189666748, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, 0.11272602528333664, -0.08487831056118011, 1.6752498149871826, 0.15468832850456238, -1.6706721782684326, -0.0, 0.0, 0.8337147831916809, 0.1493476778268814, -0.07686731964349747, -1.4654383659362793, -0.12798504531383514, 1.5478370189666748, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, 0.11272602528333664, -0.08487831056118011, 1.6752498149871826, 0.15430685877799988, -1.6706721782684326, -0.0, 0.0, 0.8337147831916809, 0.1493476778268814, -0.07686731964349747, -1.4654383659362793, -0.12798504531383514, 1.5478370189666748, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000039/meta.json b/rc-table30-v2__rc-dos-w1/000039/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f123ceb778c3746fd013248505fd5fc150b1355a
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000039/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Remove the laces from the shoes, then place them on the table.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 9447,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000039/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000039/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dc5319493d3ac218c9466a51194db6f14d96e07f
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000039/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000039/temporal.json b/rc-table30-v2__rc-dos-w1/000039/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..87fb0a5ec699dc7af9bcb086b6dabfc90fea5ec8
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000039/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08297093212604523, -1.6779202222824097, -2.4338049115613103e-05, 2.4338049115613103e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5402075052261353, -0.061226826161146164, 1.5394445657730103, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08335240930318832, -1.6779202222824097, -2.4338049115613103e-05, 2.4338049115613103e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5405889749526978, -0.061226826161146164, 1.5394445657730103, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08297093212604523, -1.6779202222824097, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5402075052261353, -0.061226826161146164, 1.5394445657730103, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08297093212604523, -1.6779202222824097, -2.4338049115613103e-05, 2.4338049115613103e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5402075052261353, -0.061226826161146164, 1.5398260354995728, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08297093212604523, -1.6779202222824097, -2.4338049115613103e-05, 2.4338049115613103e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5405889749526978, -0.061226826161146164, 1.5394445657730103, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08335240930318832, -1.6779202222824097, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5402075052261353, -0.061226826161146164, 1.5398260354995728, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08297093212604523, -1.6779202222824097, -2.4338049115613103e-05, 2.4338049115613103e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5405889749526978, -0.061226826161146164, 1.5394445657730103, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08335240930318832, -1.6779202222824097, -2.4338049115613103e-05, 2.4338049115613103e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5402075052261353, -0.061226826161146164, 1.5394445657730103, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08335240930318832, -1.6779202222824097, -2.4338049115613103e-05, 2.4338049115613103e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5402075052261353, -0.061226826161146164, 1.5394445657730103, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08297093212604523, -1.6779202222824097, -2.4338049115613103e-05, 2.4338049115613103e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5402075052261353, -0.061226826161146164, 1.5398260354995728, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08297093212604523, -1.6779202222824097, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5402075052261353, -0.061226826161146164, 1.5394445657730103, -1.4429124348680489e-05, 1.4429124348680489e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08335240930318832, -1.6779202222824097, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5402075052261353, -0.061226826161146164, 1.5394445657730103, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08335240930318832, -1.6779202222824097, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5405889749526978, -0.061226826161146164, 1.5405889749526978, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.05092698708176613, -0.006294346414506435, 1.517700433731079, 0.08297093212604523, -1.6779202222824097, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5402075052261353, -0.06160829961299896, 1.5405889749526978, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.05092698708176613, -0.005531395319849253, 1.517700433731079, 0.08258945494890213, -1.6779202222824097, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9012359976768494, -0.15888457000255585, 0.03223468363285065, -1.5405889749526978, -0.06313420087099075, 1.5386816263198853, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7818341255187988, -0.05245288833975792, 0.016975661739706993, 1.517700433731079, 0.06656748056411743, -1.6790646314620972, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9012359976768494, -0.15888457000255585, 0.03185320645570755, -1.5402075052261353, -0.06427863240242004, 1.5379186868667603, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7570382356643677, -0.0864042118191719, 0.09670405089855194, 1.517700433731079, -0.012397955171763897, -1.6794461011886597, -2.7645206500892527e-05, 2.7645206500892527e-05, 0.9012359976768494, -0.15888457000255585, 0.03185320645570755, -1.5405889749526978, -0.06466010212898254, 1.5379186868667603, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7024872303009033, -0.22373540699481964, 0.2454795092344284, 1.517700433731079, -0.20428015291690826, -1.6790646314620972, -0.00010093347373185679, 0.00010093347373185679, 0.9012359976768494, -0.15888457000255585, 0.03185320645570755, -1.5405889749526978, -0.06466010212898254, 1.5379186868667603, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6342030763626099, -0.44460976123809814, 0.4224841594696045, 1.518463373184204, -0.4232471287250519, -1.6756312847137451, -0.012552966363728046, 0.012552966363728046, 0.9000915288925171, -0.15888457000255585, 0.03185320645570755, -1.5405889749526978, -0.06504157930612564, 1.5386816263198853, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.570496678352356, -0.6868467330932617, 0.6006332635879517, 1.516937494277954, -0.6017776727676392, -1.6721980571746826, -0.025510119274258614, 0.025510119274258614, 0.8993285894393921, -0.15888457000255585, 0.03185320645570755, -1.5402075052261353, -0.06504157930612564, 1.5421148538589478, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5167086124420166, -0.9050507545471191, 0.770008385181427, 1.519226312637329, -0.7211795449256897, -1.6744868755340576, -0.025500334799289703, 0.025500334799289703, 0.8985656499862671, -0.15888457000255585, 0.03185320645570755, -1.5398260354995728, -0.06466010212898254, 1.5455482006072998, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.482375830411911, -1.0603113174438477, 0.9035248160362244, 1.519226312637329, -0.7959487438201904, -1.6901273727416992, -0.025500334799289703, 0.025500334799289703, 0.8985656499862671, -0.15888457000255585, 0.03185320645570755, -1.5398260354995728, -0.06466010212898254, 1.5455482006072998, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46025025844573975, -1.1827648878097534, 1.0141527652740479, 1.5188448429107666, -0.8588922023773193, -1.7069122791290283, -0.025510119274258614, 0.025510119274258614, 0.8985656499862671, -0.15888457000255585, 0.03185320645570755, -1.5398260354995728, -0.06466010212898254, 1.5455482006072998, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44804301857948303, -1.2628748416900635, 1.0862516164779663, 1.5188448429107666, -0.8916990756988525, -1.7168307304382324, -0.025510119274258614, 0.025510119274258614, 0.8985656499862671, -0.15888457000255585, 0.03185320645570755, -1.5398260354995728, -0.06466010212898254, 1.5455482006072998, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4377431869506836, -1.3223849534988403, 1.1331731081008911, 1.516174554824829, -0.9111543297767639, -1.721789836883545, -0.025500334799289703, 0.025500334799289703, 0.8981841802597046, -0.15888457000255585, 0.03185320645570755, -1.5398260354995728, -0.06466010212898254, 1.5455482006072998, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42935073375701904, -1.3746471405029297, 1.1678873300552368, 1.5173189640045166, -0.9229800701141357, -1.729037880897522, -0.025500334799289703, 0.025500334799289703, 0.8981841802597046, -0.15888457000255585, 0.03185320645570755, -1.5398260354995728, -0.06466010212898254, 1.5455482006072998, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42744335532188416, -1.41317617893219, 1.1892499923706055, 1.5188448429107666, -0.9279392957687378, -1.733234167098999, -0.025500334799289703, 0.025500334799289703, 0.8981841802597046, -0.15888457000255585, 0.03185320645570755, -1.5402075052261353, -0.06466010212898254, 1.5455482006072998, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4240100681781769, -1.441023826599121, 1.1999313831329346, 1.5165560245513916, -0.9328984618186951, -1.736285924911499, -0.025461183860898018, 0.025461183860898018, 0.8981841802597046, -0.15888457000255585, 0.03185320645570755, -1.5402075052261353, -0.06466010212898254, 1.5455482006072998, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4186694025993347, -1.4627679586410522, 1.206416368484497, 1.5165560245513916, -0.9332799315452576, -1.7439154386520386, -0.023179074749350548, 0.023179074749350548, 0.8981841802597046, -0.15888457000255585, 0.03185320645570755, -1.5402075052261353, -0.06466010212898254, 1.5455482006072998, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4175249934196472, -1.4845120906829834, 1.2121385335922241, 1.5157930850982666, -0.9313725233078003, -1.7500190734863281, -0.014354518614709377, 0.014354518614709377, 0.8981841802597046, -0.15888457000255585, 0.03185320645570755, -1.5402075052261353, -0.06466010212898254, 1.5455482006072998, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4182879328727722, -1.4982452392578125, 1.2155718803405762, 1.5157930850982666, -0.9260318875312805, -1.7366673946380615, -0.0011137158144265413, 0.0011137158144265413, 0.8981841802597046, -0.15888457000255585, 0.03185320645570755, -1.5405889749526978, -0.06466010212898254, 1.5459296703338623, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42553597688674927, -1.4860379695892334, 1.2148088216781616, 1.5234225988388062, -0.9378576278686523, -1.7008087635040283, -0.0012621211353689432, 0.0012621211353689432, 0.8978027105331421, -0.15888457000255585, 0.03604944050312042, -1.5405889749526978, -0.05970092490315437, 1.5474555492401123, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44193941354751587, -1.4253833293914795, 1.2151904106140137, 1.5230411291122437, -0.9645609259605408, -1.640535593032837, -0.0012621211353689432, 0.0012621211353689432, 0.8936064839363098, -0.16231784224510193, 0.08411535620689392, -1.5405889749526978, -0.016212711110711098, 1.5493628978729248, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4709315598011017, -1.3391698598861694, 1.2094682455062866, 1.5222781896591187, -0.9496833682060242, -1.5650033950805664, -0.0012580679031088948, 0.0012580679031088948, 0.8714808821678162, -0.20809490978717804, 0.19054703414440155, -1.5405889749526978, 0.09060044586658478, 1.5501258373260498, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5178530812263489, -1.2533378601074219, 1.1861982345581055, 1.5165560245513916, -0.9554055333137512, -1.492904543876648, -0.0012580679031088948, 0.0012580679031088948, 0.8535515666007996, -0.3213931620121002, 0.34885939955711365, -1.5409704446792603, 0.247768372297287, 1.489089846611023, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5739299654960632, -1.183146357536316, 1.1556801795959473, 1.5157930850982666, -0.9504463076591492, -1.438735008239746, -0.0012580679031088948, 0.0012580679031088948, 0.8371480703353882, -0.47817960381507874, 0.5273899435997009, -1.5238040685653687, 0.42973220348358154, 1.3944838047027588, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6250476837158203, -1.1388952732086182, 1.1255435943603516, 1.518463373184204, -0.9546425342559814, -1.408216953277588, -0.0012580679031088948, 0.0012580679031088948, 0.7753490209579468, -0.6109330654144287, 0.6723506450653076, -1.351758599281311, 0.5865186452865601, 1.2102311849594116, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6670100092887878, -1.1152437925338745, 1.0999847650527954, 1.518463373184204, -0.951209306716919, -1.3971542119979858, -0.0012580679031088948, 0.0012580679031088948, 0.6616693139076233, -0.7433050870895386, 0.7818341255187988, -1.0603113174438477, 0.7513160705566406, 1.0038528442382812, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6876096725463867, -1.103417992591858, 1.0828183889389038, 1.5165560245513916, -0.9504463076591492, -1.3967727422714233, -0.0012580679031088948, 0.0012580679031088948, 0.5678263306617737, -0.8447775840759277, 0.840199887752533, -0.8264667987823486, 0.8421072959899902, 0.8813992738723755, -3.426579860388301e-05, 3.426579860388301e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6963835954666138, -1.0976959466934204, 1.0725184679031372, 1.5188448429107666, -0.9504463076591492, -1.3971542119979858, -0.0012580679031088948, 0.0012580679031088948, 0.5189974904060364, -0.9119172692298889, 0.8581292629241943, -0.6879911422729492, 0.884069561958313, 0.8264667987823486, -0.010359685868024826, 0.010359685868024826], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6986724734306335, -1.0950255393981934, 1.0671778917312622, 1.5196079015731812, -0.9493018984794617, -1.3929579257965088, -0.0012580679031088948, 0.0012580679031088948, 0.4888609051704407, -0.9569314122200012, 0.8592736721038818, -0.6097886562347412, 0.8936064839363098, 0.812352180480957, -0.020619889721274376, 0.020619889721274376], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6986724734306335, -1.0931181907653809, 1.0641260147094727, 1.519226312637329, -0.9466315507888794, -1.3899061679840088, -0.0012580679031088948, 0.0012580679031088948, 0.47589075565338135, -0.9824903011322021, 0.8470664620399475, -0.5632486343383789, 0.8867399096488953, 0.811589241027832, -0.02289055660367012, 0.02289055660367012], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6956206560134888, -1.0931181907653809, 1.0626001358032227, 1.5188448429107666, -0.9462500810623169, -1.3841840028762817, -0.0012580679031088948, 0.0012580679031088948, 0.4674982726573944, -0.995841920375824, 0.8310444951057434, -0.5376898050308228, 0.8646143078804016, 0.8176928162574768, -0.02289055660367012, 0.02289055660367012], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6937133073806763, -1.0923552513122559, 1.0610742568969727, 1.5188448429107666, -0.9462500810623169, -1.3822766542434692, -0.0012580679031088948, 0.0012580679031088948, 0.465209424495697, -1.0034713745117188, 0.8161669373512268, -0.5212863087654114, 0.8413442969322205, 0.8276112079620361, -0.02289055660367012, 0.02289055660367012], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6937133073806763, -1.0923552513122559, 1.0610742568969727, 1.518463373184204, -0.9454871416091919, -1.3780803680419922, -0.0012580679031088948, 0.0012580679031088948, 0.4713130295276642, -1.0088120698928833, 0.805867075920105, -0.5140383243560791, 0.8104447722434998, 0.8344777822494507, -0.02289055660367012, 0.02289055660367012], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6937133073806763, -1.0923552513122559, 1.0610742568969727, 1.517700433731079, -0.9435797929763794, -1.3746471405029297, -0.0012580679031088948, 0.0012580679031088948, 0.4808499217033386, -1.0179674625396729, 0.804341197013855, -0.5071717500686646, 0.7803082466125488, 0.8451590538024902, -0.02289055660367012, 0.02289055660367012], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6937133073806763, -1.0923552513122559, 1.0610742568969727, 1.5173189640045166, -0.9431982636451721, -1.3723583221435547, -0.0012580679031088948, 0.0012580679031088948, 0.49496451020240784, -1.0336079597473145, 0.8112077713012695, -0.5045014023780823, 0.7646677494049072, 0.8539330363273621, -0.02289055660367012, 0.02289055660367012], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6937133073806763, -1.0923552513122559, 1.0610742568969727, 1.5173189640045166, -0.9424353241920471, -1.3715953826904297, -0.0012580679031088948, 0.0012580679031088948, 0.5140383243560791, -1.0622186660766602, 0.8291370868682861, -0.5022125840187073, 0.7471198439598083, 0.8619440197944641, -0.02288060449063778, 0.02288060449063778], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6937133073806763, -1.0923552513122559, 1.0610742568969727, 1.5173189640045166, -0.9393835067749023, -1.3715953826904297, -0.0012580679031088948, 0.0012580679031088948, 0.533875048160553, -1.1007477045059204, 0.8535515666007996, -0.501068115234375, 0.7330052852630615, 0.8680475950241089, -0.020709369331598282, 0.020709369331598282], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6937133073806763, -1.0923552513122559, 1.0610742568969727, 1.5180819034576416, -0.9393835067749023, -1.3715953826904297, -0.0012580679031088948, 0.0012580679031088948, 0.543411910533905, -1.1400396823883057, 0.8779659867286682, -0.501068115234375, 0.7211795449256897, 0.8733882904052734, -0.0021664637606590986, 0.0021664637606590986], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.691042959690094, -1.0923552513122559, 1.0599298477172852, 1.517700433731079, -0.9393835067749023, -1.3715953826904297, -0.0012580679031088948, 0.0012580679031088948, 0.5376898050308228, -1.1537728309631348, 0.8894102573394775, -0.44079500436782837, 0.7394903302192688, 0.8260852694511414, -0.00023680592130403966, 0.00023680592130403966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6868467330932617, -1.0923552513122559, 1.0576409101486206, 1.5165560245513916, -0.9390020370483398, -1.3712139129638672, -0.0012580679031088948, 0.0012580679031088948, 0.49153125286102295, -1.1522468328475952, 0.8916990756988525, -0.2958342730998993, 0.813878059387207, 0.733386754989624, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6815060377120972, -1.0923552513122559, 1.0538262128829956, 1.516937494277954, -0.9382390975952148, -1.3708323240280151, -0.0012580679031088948, 0.0012580679031088948, 0.4182879328727722, -1.1495765447616577, 0.9008545279502869, -0.1516365259885788, 0.9115357995033264, 0.6670100092887878, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6795986890792847, -1.0923552513122559, 1.0515373945236206, 1.516174554824829, -0.9359502792358398, -1.3670176267623901, -0.0012580679031088948, 0.0012580679031088948, 0.3435187339782715, -1.1514838933944702, 0.918402373790741, -0.04253452271223068, 0.9855420589447021, 0.6361104846000671, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6795986890792847, -1.0923552513122559, 1.0488669872283936, 1.5157930850982666, -0.9348058104515076, -1.3670176267623901, -0.0012540173484012485, 0.0012540173484012485, 0.2782863974571228, -1.1648355722427368, 0.9565499424934387, 0.046730753034353256, 1.0275044441223145, 0.6227588057518005, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6795986890792847, -1.0919737815856934, 1.046959638595581, 1.516174554824829, -0.9313725233078003, -1.3632028102874756, -0.0012580679031088948, 0.0012580679031088948, 0.2302204966545105, -1.188105583190918, 1.0267413854599, 0.11196307092905045, 1.043144941329956, 0.6280995011329651, -0.00023680592130403966, 0.00023680592130403966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6853207945823669, -1.0915923118591309, 1.046196699142456, 1.5157930850982666, -0.9298466444015503, -1.359769582748413, -0.0012540173484012485, 0.0012540173484012485, 0.2145799994468689, -1.2167162895202637, 1.0877774953842163, 0.14858472347259521, 1.0313191413879395, 0.6506065726280212, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.691805899143219, -1.0915923118591309, 1.0458152294158936, 1.5165560245513916, -0.9302281141281128, -1.356717824935913, -0.0012580679031088948, 0.0012580679031088948, 0.22678720951080322, -1.2438009977340698, 1.1224918365478516, 0.14248111844062805, 1.0000381469726562, 0.6776912808418274, -0.00023680592130403966, 0.00023680592130403966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6960021257400513, -1.0919737815856934, 1.0450522899627686, 1.5218967199325562, -0.9477760195732117, -1.3563363552093506, -0.0012540173484012485, 0.0012540173484012485, 0.25501641631126404, -1.262493371963501, 1.1392767429351807, 0.05283436179161072, 0.9458686113357544, 0.7230868935585022, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6994354128837585, -1.0923552513122559, 1.0450522899627686, 1.5196079015731812, -0.9481574892997742, -1.3555734157562256, -0.0012540173484012485, 0.0012540173484012485, 0.28973066806793213, -1.2731746435165405, 1.1469062566757202, -0.08564125746488571, 0.8997100591659546, 0.7795453071594238, -0.00023680592130403966, 0.00023680592130403966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7009612917900085, -1.0923552513122559, 1.0450522899627686, 1.5196079015731812, -0.9454871416091919, -1.3529030084609985, -0.0012540173484012485, 0.0012540173484012485, 0.31986725330352783, -1.28080415725708, 1.1568245887756348, -0.2500572204589844, 0.8756771087646484, 0.840962827205658, -0.002791008912026882, 0.002791008912026882], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7024872303009033, -1.0923552513122559, 1.0450522899627686, 1.519226312637329, -0.9439612627029419, -1.3529030084609985, -0.0012540173484012485, 0.0012540173484012485, 0.33436331152915955, -1.2865263223648071, 1.178568720817566, -0.4068436622619629, 0.8928435444831848, 0.8978027105331421, -0.02353682555258274, 0.02353682555258274], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7001983523368835, -1.0923552513122559, 1.0450522899627686, 1.517700433731079, -0.9424353241920471, -1.354047417640686, -0.0012540173484012485, 0.0012540173484012485, 0.32940414547920227, -1.28385591506958, 1.1964980363845825, -0.5102235674858093, 0.9473945498466492, 0.9351872801780701, -0.025695832446217537, 0.025695832446217537], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6956206560134888, -1.0923552513122559, 1.0450522899627686, 1.5173189640045166, -0.9386205673217773, -1.3609139919281006, -0.0012540173484012485, 0.0012540173484012485, 0.31452658772468567, -1.2491416931152344, 1.1839094161987305, -0.568970799446106, 1.0027084350585938, 0.9500648379325867, -0.025695832446217537, 0.025695832446217537], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.691805899143219, -1.0923552513122559, 1.0450522899627686, 1.5180819034576416, -0.9386205673217773, -1.3647288084030151, -0.0012540173484012485, 0.0012540173484012485, 0.3225375711917877, -1.180094599723816, 1.118677020072937, -0.6033035516738892, 1.0290303230285645, 0.9546425342559814, -0.025695832446217537, 0.025695832446217537], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.690280020236969, -1.0927367210388184, 1.043907880783081, 1.518463373184204, -0.9386205673217773, -1.3677805662155151, -0.0012540173484012485, 0.0012540173484012485, 0.36335545778274536, -1.103417992591858, 1.0263599157333374, -0.6227588057518005, 1.0011825561523438, 0.9504463076591492, -0.025695832446217537, 0.025695832446217537], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6879911422729492, -1.0946440696716309, 1.043144941329956, 1.5165560245513916, -0.9390020370483398, -1.3677805662155151, -0.0012540173484012485, 0.0012540173484012485, 0.41409170627593994, -1.0538262128829956, 0.9485389590263367, -0.6322957277297974, 0.9260318875312805, 0.951209306716919, -0.025666531175374985, 0.025666531175374985], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6857023239135742, -1.0969328880310059, 1.042763352394104, 1.5173189640045166, -0.9390020370483398, -1.3670176267623901, -0.0012540173484012485, 0.0012540173484012485, 0.4705500900745392, -1.0385671854019165, 0.9012359976768494, -0.6391623020172119, 0.8497368097305298, 0.9554055333137512, -0.024783514440059662, 0.024783514440059662], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6830319762229919, -1.0984588861465454, 1.042763352394104, 1.5180819034576416, -0.9386205673217773, -1.359769582748413, -0.0012540173484012485, 0.0012540173484012485, 0.5132753252983093, -1.046959638595581, 0.8802548050880432, -0.6418325901031494, 0.7833600640296936, 0.9618905782699585, -0.02471453696489334, 0.02471453696489334], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6799801588058472, -1.099603295326233, 1.042763352394104, 1.518463373184204, -0.9386205673217773, -1.3563363552093506, -0.0012540173484012485, 0.0012540173484012485, 0.5445563197135925, -1.0698481798171997, 0.8752956390380859, -0.6445029377937317, 0.7330052852630615, 0.970283031463623, -0.02370557002723217, 0.02370557002723217], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6776912808418274, -1.100366234779358, 1.042763352394104, 1.5180819034576416, -0.9386205673217773, -1.3544288873672485, -0.0012540173484012485, 0.0012540173484012485, 0.5724040865898132, -1.0938811302185059, 0.8775845170021057, -0.6456473469734192, 0.6944762468338013, 0.9740977883338928, -0.021485840901732445, 0.021485840901732445], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6754024624824524, -1.101892113685608, 1.042763352394104, 1.517700433731079, -0.9386205673217773, -1.3513771295547485, -0.0012540173484012485, 0.0012540173484012485, 0.5891889929771423, -1.112191915512085, 0.8871213793754578, -0.647173285484314, 0.6589990258216858, 0.9779125452041626, -0.017269089818000793, 0.017269089818000793], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6734950542449951, -1.1045624017715454, 1.042763352394104, 1.5173189640045166, -0.9390020370483398, -1.3483253717422485, -0.0012540173484012485, 0.0012540173484012485, 0.5991073250770569, -1.1255435943603516, 0.8981841802597046, -0.647936224937439, 0.6372548937797546, 0.9779125452041626, -0.003845681669190526, 0.003845681669190526], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6731135845184326, -1.106088399887085, 1.042763352394104, 1.5180819034576416, -0.9386205673217773, -1.345273494720459, -0.0012540173484012485, 0.0012540173484012485, 0.6006332635879517, -1.1297398805618286, 0.9119172692298889, -0.647936224937439, 0.6307697892189026, 0.9775310754776001, -0.00012783645070157945, 0.00012783645070157945], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6715877056121826, -1.1072328090667725, 1.0423818826675415, 1.516937494277954, -0.9386205673217773, -1.3448920249938965, -0.0012540173484012485, 0.0012540173484012485, 0.5853742361068726, -1.120202898979187, 0.9386205673217773, -0.647936224937439, 0.6418325901031494, 0.9744792580604553, -0.000131208827951923, 0.000131208827951923], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6712062358856201, -1.107614278793335, 1.042000412940979, 1.5173189640045166, -0.9386205673217773, -1.3403143882751465, -0.0012540173484012485, 0.0012540173484012485, 0.5468451976776123, -1.107614278793335, 0.9885938763618469, -0.6258106231689453, 0.6746395230293274, 0.9576943516731262, -0.000131208827951923, 0.000131208827951923], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6712062358856201, -1.107614278793335, 1.042000412940979, 1.5173189640045166, -0.9386205673217773, -1.338025450706482, -0.0012540173484012485, 0.0012540173484012485, 0.4808499217033386, -1.114862322807312, 1.0568779706954956, -0.5518043637275696, 0.7108796834945679, 0.9225986003875732, -0.000131208827951923, 0.000131208827951923], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6723506450653076, -1.107614278793335, 1.042000412940979, 1.5173189640045166, -0.9386205673217773, -1.3376439809799194, -0.0012540173484012485, 0.0012540173484012485, 0.41332876682281494, -1.1507209539413452, 1.1419470310211182, -0.5033569931983948, 0.7448310256004333, 0.9122987985610962, -0.000131208827951923, 0.000131208827951923], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6757839322090149, -1.107614278793335, 1.042000412940979, 1.517700433731079, -0.9386205673217773, -1.3376439809799194, -0.0012540173484012485, 0.0012540173484012485, 0.361829549074173, -1.201838731765747, 1.2293049097061157, -0.4736018776893616, 0.7631418108940125, 0.9134432077407837, -0.000131208827951923, 0.000131208827951923], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6799801588058472, -1.107614278793335, 1.042000412940979, 1.5180819034576416, -0.9386205673217773, -1.3376439809799194, -0.0012540173484012485, 0.0012540173484012485, 0.33131152391433716, -1.2556267976760864, 1.3017853498458862, -0.45834288001060486, 0.7669565677642822, 0.925650417804718, -0.000131208827951923, 0.000131208827951923], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6826505064964294, -1.107614278793335, 1.042000412940979, 1.517700433731079, -0.9390020370483398, -1.3376439809799194, -0.0012540173484012485, 0.0012540173484012485, 0.31910428404808044, -1.3002593517303467, 1.354810357093811, -0.4716945290565491, 0.7642862796783447, 0.9489204287528992, -0.0009375005611218512, 0.0009375005611218512], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6860837936401367, -1.1064698696136475, 1.042000412940979, 1.5173189640045166, -0.9390020370483398, -1.338025450706482, -0.0012540173484012485, 0.0012540173484012485, 0.31986725330352783, -1.3307774066925049, 1.3906691074371338, -0.5788891315460205, 0.7749675512313843, 0.996604859828949, -0.019925083965063095, 0.019925083965063095], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6860837936401367, -1.1057069301605225, 1.042000412940979, 1.5173189640045166, -0.9393835067749023, -1.3384069204330444, -0.0012540173484012485, 0.0012540173484012485, 0.3213931620121002, -1.3426032066345215, 1.3994430303573608, -0.6723506450653076, 0.8413442969322205, 1.0248340368270874, -0.027481110766530037, 0.027481110766530037], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6860837936401367, -1.1045624017715454, 1.042000412940979, 1.5173189640045166, -0.9393835067749023, -1.3426032066345215, -0.0012540173484012485, 0.0012540173484012485, 0.3221561014652252, -1.3311588764190674, 1.3788433074951172, -0.7249943017959595, 0.9405279755592346, 1.0255969762802124, -0.027376292273402214, 0.027376292273402214], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6857023239135742, -1.104943871498108, 1.042000412940979, 1.517700433731079, -0.9397650361061096, -1.354047417640686, -0.0012540173484012485, 0.0012540173484012485, 0.34924086928367615, -1.28080415725708, 1.3044556379318237, -0.7562752962112427, 1.0061417818069458, 1.0027084350585938, -0.02732858806848526, 0.02732858806848526], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6837949156761169, -1.104943871498108, 1.042000412940979, 1.517700433731079, -0.9397650361061096, -1.3609139919281006, -0.0012540173484012485, 0.0012540173484012485, 0.39730677008628845, -1.2098497152328491, 1.203364610671997, -0.7719157934188843, 1.0164415836334229, 0.9767681360244751, -0.025871412828564644, 0.025871412828564644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6834134459495544, -1.104943871498108, 1.042000412940979, 1.517700433731079, -0.9397650361061096, -1.3639658689498901, -0.0012540173484012485, 0.0012540173484012485, 0.44499123096466064, -1.1499580144882202, 1.115625262260437, -0.7803082466125488, 0.9847791194915771, 0.9649423956871033, -0.025861667469143867, 0.025861667469143867], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6834134459495544, -1.1045624017715454, 1.042000412940979, 1.517700433731079, -0.9393835067749023, -1.3635843992233276, -0.0012540173484012485, 0.0012540173484012485, 0.4888609051704407, -1.1205843687057495, 1.0561150312423706, -0.7867932915687561, 0.951209306716919, 0.962272047996521, -0.025861667469143867, 0.025861667469143867], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6837949156761169, -1.1045624017715454, 1.042000412940979, 1.517700433731079, -0.9393835067749023, -1.3632028102874756, -0.0012540173484012485, 0.0012540173484012485, 0.5182345509529114, -1.109140157699585, 1.0164415836334229, -0.7913710474967957, 0.9103913903236389, 0.962272047996521, -0.025861667469143867, 0.025861667469143867], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6857023239135742, -1.104943871498108, 1.042000412940979, 1.517700433731079, -0.9393835067749023, -1.3601510524749756, -0.0012540173484012485, 0.0012540173484012485, 0.5384527444839478, -1.107614278793335, 0.9916456937789917, -0.7936598658561707, 0.8695735335350037, 0.962272047996521, -0.025861667469143867, 0.025861667469143867], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6860837936401367, -1.1045624017715454, 1.042000412940979, 1.517700433731079, -0.9397650361061096, -1.3563363552093506, -0.0012540173484012485, 0.0012540173484012485, 0.5502784848213196, -1.1167696714401245, 0.9779125452041626, -0.7940413355827332, 0.8352407217025757, 0.9618905782699585, -0.025861667469143867, 0.025861667469143867], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6860837936401367, -1.104943871498108, 1.042000412940979, 1.517700433731079, -0.9397650361061096, -1.3529030084609985, -0.0012540173484012485, 0.0012540173484012485, 0.5556191205978394, -1.1350804567337036, 0.9729533791542053, -0.7940413355827332, 0.8047226667404175, 0.9618905782699585, -0.025861667469143867, 0.025861667469143867], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6860837936401367, -1.104943871498108, 1.042000412940979, 1.519226312637329, -0.9397650361061096, -1.3521400690078735, -0.0012540173484012485, 0.0012540173484012485, 0.5624856948852539, -1.1598763465881348, 0.9733348488807678, -0.7936598658561707, 0.7784008383750916, 0.9618905782699585, -0.025861667469143867, 0.025861667469143867], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6864652633666992, -1.104943871498108, 1.042000412940979, 1.519226312637329, -0.9397650361061096, -1.3490883111953735, -0.0012540173484012485, 0.0012540173484012485, 0.5727855563163757, -1.188105583190918, 0.9836347103118896, -0.7944228053092957, 0.7421606779098511, 0.962272047996521, -0.02470467984676361, 0.02470467984676361], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6868467330932617, -1.104943871498108, 1.0416189432144165, 1.5173189640045166, -0.9397650361061096, -1.3490883111953735, -0.0012540173484012485, 0.0012540173484012485, 0.5888075232505798, -1.2163348197937012, 1.0038528442382812, -0.7948042750358582, 0.7043945789337158, 0.9771496057510376, -0.01655769906938076, 0.01655769906938076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6868467330932617, -1.1045624017715454, 1.042000412940979, 1.518463373184204, -0.9397650361061096, -1.349469780921936, -0.0012540173484012485, 0.0012540173484012485, 0.5987258553504944, -1.2388418912887573, 1.025978446006775, -0.7951858043670654, 0.6845578551292419, 0.9931715726852417, -0.001713834935799241, 0.001713834935799241], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6876096725463867, -1.1045624017715454, 1.042000412940979, 1.5165560245513916, -0.9393835067749023, -1.349469780921936, -0.0012540173484012485, 0.0012540173484012485, 0.5895704627037048, -1.2399863004684448, 1.0450522899627686, -0.7967116832733154, 0.7047760486602783, 0.9924086332321167, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6872282028198242, -1.1045624017715454, 1.042000412940979, 1.516174554824829, -0.9390020370483398, -1.3506141901016235, -0.0012540173484012485, 0.0012540173484012485, 0.5575265288352966, -1.1987868547439575, 1.0610742568969727, -0.7970931529998779, 0.7963302135467529, 0.9554055333137512, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6822690367698669, -1.1045624017715454, 1.042000412940979, 1.516174554824829, -0.9390020370483398, -1.354810357093811, -0.0012540173484012485, 0.0012540173484012485, 0.5148012638092041, -1.1381323337554932, 1.0694667100906372, -0.7974746227264404, 0.9637979865074158, 0.8886472582817078, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6765468716621399, -1.104943871498108, 1.042000412940979, 1.514648675918579, -0.9390020370483398, -1.362821340560913, -0.0012540173484012485, 0.0012540173484012485, 0.47703516483306885, -1.0778591632843018, 1.0423818826675415, -0.7970931529998779, 1.1537728309631348, 0.812352180480957, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6731135845184326, -1.10685133934021, 1.0435264110565186, 1.508163571357727, -0.9393835067749023, -1.3727397918701172, -0.0012540173484012485, 0.0012540173484012485, 0.4510948359966278, -1.0297932624816895, 0.9710460305213928, -0.7967116832733154, 1.2788968086242676, 0.7421606779098511, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6715877056121826, -1.113336443901062, 1.047722578048706, 1.5077821016311646, -0.9409094452857971, -1.3811322450637817, -0.0012540173484012485, 0.0012540173484012485, 0.439269095659256, -1.0023269653320312, 0.8924620151519775, -0.7936598658561707, 1.3132295608520508, 0.6956206560134888, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6731135845184326, -1.120202898979187, 1.054970622062683, 1.508926510810852, -0.9405279755592346, -1.3899061679840088, -0.0012540173484012485, 0.0012540173484012485, 0.4381246566772461, -0.9885938763618469, 0.8321889042854309, -0.7936598658561707, 1.2716487646102905, 0.6803616285324097, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6754024624824524, -1.1255435943603516, 1.0633630752563477, 1.5196079015731812, -0.9397650361061096, -1.3956283330917358, -0.0012540173484012485, 0.0012540173484012485, 0.44384679198265076, -0.9817273020744324, 0.802815318107605, -0.7940413355827332, 1.198405385017395, 0.6898985505104065, -0.0002782329684123397, 0.0002782329684123397], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6773098111152649, -1.1297398805618286, 1.0690852403640747, 1.5241855382919312, -0.9386205673217773, -1.4009689092636108, -0.0012540173484012485, 0.0012540173484012485, 0.4510948359966278, -0.9786755442619324, 0.7978560924530029, -0.7970931529998779, 1.1224918365478516, 0.7314793467521667, -0.004115675576031208, 0.004115675576031208], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6769283413887024, -1.1320286989212036, 1.0717555284500122, 1.5268558263778687, -0.9363317489624023, -1.405928134918213, -0.0012540173484012485, 0.0012540173484012485, 0.4545281231403351, -0.9786755442619324, 0.8180742859840393, -0.7959487438201904, 1.0530632734298706, 0.7806897163391113, -0.025988271459937096, 0.025988271459937096], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6769283413887024, -1.1331731081008911, 1.0736628770828247, 1.5241855382919312, -0.9359502792358398, -1.4063096046447754, -0.0012540173484012485, 0.0012540173484012485, 0.4530022144317627, -0.9786755442619324, 0.8543145060539246, -0.7970931529998779, 1.021400809288025, 0.8241779208183289, -0.027595236897468567, 0.027595236897468567], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6769283413887024, -1.1339360475540161, 1.0736628770828247, 1.5215152502059937, -0.9367132186889648, -1.4063096046447754, -0.0012540173484012485, 0.0012540173484012485, 0.4545281231403351, -0.9813458323478699, 0.8955138325691223, -0.7948042750358582, 0.9905012845993042, 0.8588922023773193, -0.028602106496691704, 0.028602106496691704], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6776912808418274, -1.1339360475540161, 1.0736628770828247, 1.518463373184204, -0.9386205673217773, -1.405928134918213, -0.0012540173484012485, 0.0012540173484012485, 0.4697871506214142, -0.9992752075195312, 0.927176296710968, -0.7944228053092957, 0.9489204287528992, 0.8821622133255005, -0.028602106496691704, 0.028602106496691704], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6776912808418274, -1.1339360475540161, 1.0736628770828247, 1.519226312637329, -0.9405279755592346, -1.405928134918213, -0.0012540173484012485, 0.0012540173484012485, 0.4865720570087433, -1.033989429473877, 0.9485389590263367, -0.7948042750358582, 0.9092469811439514, 0.9000915288925171, -0.028602106496691704, 0.028602106496691704], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6780728101730347, -1.1346989870071411, 1.0736628770828247, 1.5180819034576416, -0.9401465058326721, -1.405928134918213, -0.0012540173484012485, 0.0012540173484012485, 0.506027340888977, -1.0736628770828247, 0.959220290184021, -0.7951858043670654, 0.8794918656349182, 0.9061951637268066, -0.02856483682990074, 0.02856483682990074], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6788357496261597, -1.1346989870071411, 1.0736628770828247, 1.5173189640045166, -0.9393835067749023, -1.4063096046447754, -0.0012540173484012485, 0.0012540173484012485, 0.5216678380966187, -1.1064698696136475, 0.9626535177230835, -0.7951858043670654, 0.8485923409461975, 0.9103913903236389, -0.02781333215534687, 0.02781333215534687], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6795986890792847, -1.1346989870071411, 1.0736628770828247, 1.5180819034576416, -0.9393835067749023, -1.4063096046447754, -0.0012540173484012485, 0.0012540173484012485, 0.534637987613678, -1.1312657594680786, 0.9637979865074158, -0.7967116832733154, 0.8089188933372498, 0.9172579646110535, -0.0272330604493618, 0.0272330604493618], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6799801588058472, -1.1346989870071411, 1.0736628770828247, 1.518463373184204, -0.9393835067749023, -1.4063096046447754, -0.0012540173484012485, 0.0012540173484012485, 0.5468451976776123, -1.1572060585021973, 0.967994213104248, -0.7948042750358582, 0.770008385181427, 0.9222171306610107, -0.026046637445688248, 0.026046637445688248], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6807430982589722, -1.1346989870071411, 1.0736628770828247, 1.5180819034576416, -0.9390020370483398, -1.4063096046447754, -0.0012540173484012485, 0.0012540173484012485, 0.5544747114181519, -1.187342643737793, 0.9790570139884949, -0.7955672740936279, 0.7368200421333313, 0.9344243407249451, -0.016586394980549812, 0.016586394980549812], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6811245679855347, -1.1346989870071411, 1.0736628770828247, 1.516937494277954, -0.9390020370483398, -1.4063096046447754, -0.0012540173484012485, 0.0012540173484012485, 0.5605783462524414, -1.2037460803985596, 0.9878309369087219, -0.7959487438201904, 0.7200350761413574, 0.9443427324295044, -0.00011773198639275506, 0.00011773198639275506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6807430982589722, -1.1343175172805786, 1.0732814073562622, 1.5173189640045166, -0.9390020370483398, -1.4063096046447754, -0.0012540173484012485, 0.0012540173484012485, 0.5540932416915894, -1.192301869392395, 1.0015640258789062, -0.7951858043670654, 0.7524605393409729, 0.9344243407249451, -0.00020593790395651013, 0.00020593790395651013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6799801588058472, -1.1339360475540161, 1.0721369981765747, 1.5157930850982666, -0.9393835067749023, -1.405928134918213, -0.0012540173484012485, 0.0012540173484012485, 0.5231937170028687, -1.1575875282287598, 1.0275044441223145, -0.7967116832733154, 0.8714808821678162, 0.8936064839363098, -0.00020593790395651013, 0.00020593790395651013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6773098111152649, -1.1339360475540161, 1.0713740587234497, 1.5165560245513916, -0.9397650361061096, -1.405928134918213, -0.0012540173484012485, 0.0012540173484012485, 0.4880979657173157, -1.102655053138733, 1.022926688194275, -0.7959487438201904, 1.0912108421325684, 0.8325703740119934, -0.00020593790395651013, 0.00020593790395651013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6765468716621399, -1.1339360475540161, 1.0713740587234497, 1.518463373184204, -0.9397650361061096, -1.405928134918213, -0.0012540173484012485, 0.0012540173484012485, 0.465209424495697, -1.0206378698349, 0.9401465058326721, -0.7970931529998779, 1.2346456050872803, 0.7841230034828186, -0.00020593790395651013, 0.00020593790395651013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6750209927558899, -1.1339360475540161, 1.0713740587234497, 1.5180819034576416, -0.9390020370483398, -1.4063096046447754, -0.0012540173484012485, 0.0012540173484012485, 0.4518577754497528, -0.9416723847389221, 0.8295185565948486, -0.7990005612373352, 1.2411307096481323, 0.7631418108940125, -0.00020593790395651013, 0.00020593790395651013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6727321147918701, -1.1339360475540161, 1.0713740587234497, 1.516937494277954, -0.9390020370483398, -1.4063096046447754, -0.0012540173484012485, 0.0012540173484012485, 0.44575417041778564, -0.8901731967926025, 0.7509346008300781, -0.7951858043670654, 1.178568720817566, 0.7814526557922363, -0.00626466516405344, 0.00626466516405344], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6712062358856201, -1.1339360475540161, 1.0713740587234497, 1.517700433731079, -0.9390020370483398, -1.405928134918213, -0.0012540173484012485, 0.0012540173484012485, 0.4175249934196472, -0.8661402463912964, 0.7265201807022095, -0.7516975402832031, 1.122873306274414, 0.80510413646698, -0.027765994891524315, 0.027765994891524315], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6692988276481628, -1.1339360475540161, 1.0713740587234497, 1.517700433731079, -0.9390020370483398, -1.4063096046447754, -0.0012540173484012485, 0.0012540173484012485, 0.34885939955711365, -0.8691920638084412, 0.7417792081832886, -0.6387808322906494, 1.1087586879730225, 0.7993820309638977, -0.027851173654198647, 0.027851173654198647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6685358881950378, -1.1335545778274536, 1.0713740587234497, 1.517700433731079, -0.9390020370483398, -1.405928134918213, -0.0012540173484012485, 0.0012540173484012485, 0.2904936373233795, -0.9058136940002441, 0.768482506275177, -0.5453193187713623, 1.104943871498108, 0.7928969264030457, -0.027851173654198647, 0.027851173654198647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6681544184684753, -1.1335545778274536, 1.0713740587234497, 1.517700433731079, -0.9390020370483398, -1.4055466651916504, -0.0012540173484012485, 0.0012540173484012485, 0.2576867341995239, -0.9725719094276428, 0.7887006998062134, -0.4819943606853485, 1.101129174232483, 0.7856488823890686, -0.026260284706950188, 0.026260284706950188], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6685358881950378, -1.1354619264602661, 1.0713740587234497, 1.5173189640045166, -0.9386205673217773, -1.4017318487167358, -0.0012540173484012485, 0.0012540173484012485, 0.2508201599121094, -1.047722578048706, 0.8047226667404175, -0.42782482504844666, 1.0843442678451538, 0.7818341255187988, -0.025068849325180054, 0.025068849325180054], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6681544184684753, -1.1358433961868286, 1.0713740587234497, 1.517700433731079, -0.9386205673217773, -1.4017318487167358, -0.0012540173484012485, 0.0012540173484012485, 0.264934778213501, -1.1030365228652954, 0.8176928162574768, -0.39425498247146606, 1.051155924797058, 0.7818341255187988, -0.02436908893287182, 0.02436908893287182], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6670100092887878, -1.1354619264602661, 1.0713740587234497, 1.5173189640045166, -0.9386205673217773, -1.3982986211776733, -0.0012540173484012485, 0.0012540173484012485, 0.28820478916168213, -1.1373693943023682, 0.8287556171417236, -0.3755626678466797, 1.0236896276474, 0.7822155952453613, -0.02428012154996395, 0.02428012154996395], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6662470698356628, -1.1350804567337036, 1.0713740587234497, 1.5173189640045166, -0.9386205673217773, -1.3975356817245483, -0.0012540173484012485, 0.0012540173484012485, 0.3065156042575836, -1.1606394052505493, 0.8371480703353882, -0.36526283621788025, 0.9870679974555969, 0.7860303521156311, -0.024270232766866684, 0.024270232766866684], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6662470698356628, -1.1350804567337036, 1.0713740587234497, 1.5173189640045166, -0.9386205673217773, -1.3929579257965088, -0.0012540173484012485, 0.0012540173484012485, 0.31986725330352783, -1.178568720817566, 0.8413442969322205, -0.3595407009124756, 0.9626535177230835, 0.7894636392593384, -0.024191096425056458, 0.024191096425056458], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6662470698356628, -1.1350804567337036, 1.0713740587234497, 1.5173189640045166, -0.9386205673217773, -1.3902876377105713, -0.0012540173484012485, 0.0012540173484012485, 0.3263523280620575, -1.188868522644043, 0.8413442969322205, -0.3580147922039032, 0.9470130205154419, 0.7894636392593384, -0.024200990796089172, 0.024200990796089172], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6651026010513306, -1.1350804567337036, 1.0713740587234497, 1.5173189640045166, -0.9386205673217773, -1.3899061679840088, -0.0012540173484012485, 0.0012540173484012485, 0.33016708493232727, -1.1949721574783325, 0.8421072959899902, -0.3542000353336334, 0.9302281141281128, 0.7894636392593384, -0.024191096425056458, 0.024191096425056458], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.1350804567337036, 1.0713740587234497, 1.5180819034576416, -0.9390020370483398, -1.3864728212356567, -0.0012540173484012485, 0.0012540173484012485, 0.3389410376548767, -1.202601671218872, 0.84744793176651, -0.35229265689849854, 0.9138246774673462, 0.7890821695327759, -0.02390390634536743, 0.02390390634536743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6639581918716431, -1.1350804567337036, 1.0713740587234497, 1.5180819034576416, -0.9390020370483398, -1.3864728212356567, -0.0012540173484012485, 0.0012540173484012485, 0.3553444743156433, -1.2216753959655762, 0.8657587766647339, -0.35191118717193604, 0.8932250142097473, 0.7894636392593384, -0.01913442462682724, 0.01913442462682724], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6628137826919556, -1.1350804567337036, 1.0709925889968872, 1.517700433731079, -0.9390020370483398, -1.3860913515090942, -0.0012540173484012485, 0.0012540173484012485, 0.3747997283935547, -1.2415121793746948, 0.88979172706604, -0.35152971744537354, 0.884069561958313, 0.7894636392593384, -0.0037751481868326664, 0.0037751481868326664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6597619652748108, -1.1343175172805786, 1.0702296495437622, 1.5173189640045166, -0.9390020370483398, -1.3860913515090942, -0.0012540173484012485, 0.0012540173484012485, 0.36678874492645264, -1.2502861022949219, 0.9019989371299744, -0.2943083941936493, 0.9130617380142212, 0.76276034116745, -0.00026438964414410293, 0.00026438964414410293], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.656710147857666, -1.1335545778274536, 1.0675593614578247, 1.5165560245513916, -0.9386205673217773, -1.3860913515090942, -0.0012540173484012485, 0.0012540173484012485, 0.3213931620121002, -1.2510490417480469, 0.8958953022956848, -0.12111848592758179, 1.0057603120803833, 0.6887540817260742, -0.00026438964414410293, 0.00026438964414410293], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6540398001670837, -1.1327916383743286, 1.0664149522781372, 1.5165560245513916, -0.9374761581420898, -1.3864728212356567, -0.0012540173484012485, 0.0012540173484012485, 0.26874953508377075, -1.2510490417480469, 0.8916990756988525, 0.07724879682064056, 1.0881589651107788, 0.6322957277297974, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6536583304405212, -1.1327916383743286, 1.0652704238891602, 1.5157930850982666, -0.9355688095092773, -1.3864728212356567, -0.0012540173484012485, 0.0012540173484012485, 0.23403525352478027, -1.2525749206542969, 0.89131760597229, 0.21000228822231293, 1.0839627981185913, 0.6048294901847839, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.655184268951416, -1.1327916383743286, 1.0652704238891602, 1.5157930850982666, -0.9359502792358398, -1.3864728212356567, -0.0012540173484012485, 0.0012540173484012485, 0.22755016386508942, -1.2541009187698364, 0.8901731967926025, 0.25463491678237915, 1.0004196166992188, 0.5987258553504944, -0.00026438964414410293, 0.00026438964414410293], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -1.1327916383743286, 1.0641260147094727, 1.519226312637329, -0.9409094452857971, -1.3860913515090942, -0.0012540173484012485, 0.0012540173484012485, 0.2443350851535797, -1.2579156160354614, 0.8916990756988525, 0.22373540699481964, 0.9119172692298889, 0.6059738993644714, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6589990258216858, -1.1324101686477661, 1.0641260147094727, 1.5199893712997437, -0.9431982636451721, -1.3834210634231567, -0.0012540173484012485, 0.0012540173484012485, 0.26684215664863586, -1.2609673738479614, 0.9008545279502869, 0.15964750945568085, 0.8573662638664246, 0.6109330654144287, -0.0037643378600478172, 0.0037643378600478172], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6620507836341858, -1.1320286989212036, 1.0641260147094727, 1.517700433731079, -0.9431982636451721, -1.3830395936965942, -0.0012540173484012485, 0.0012540173484012485, 0.2756160795688629, -1.270504355430603, 0.9504463076591492, 0.0032425422687083483, 0.8600366115570068, 0.6670100092887878, -0.0256469938904047, 0.0256469938904047], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6620507836341858, -1.1305028200149536, 1.0633630752563477, 1.516937494277954, -0.9431982636451721, -1.3830395936965942, -0.0012540173484012485, 0.0012540173484012485, 0.26760509610176086, -1.27775239944458, 1.0168230533599854, -0.19359883666038513, 0.9390020370483398, 0.7578011751174927, -0.02656032145023346, 0.02656032145023346], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6620507836341858, -1.128213882446289, 1.0622186660766602, 1.5173189640045166, -0.9424353241920471, -1.3830395936965942, -0.0012540173484012485, 0.0012540173484012485, 0.25120165944099426, -1.2644007205963135, 1.050011396408081, -0.3408484160900116, 1.033226490020752, 0.8176928162574768, -0.026541002094745636, 0.026541002094745636], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6620507836341858, -1.1270694732666016, 1.0599298477172852, 1.5188448429107666, -0.9401465058326721, -1.3834210634231567, -0.0012540173484012485, 0.0012540173484012485, 0.25501641631126404, -1.2235828638076782, 1.0290303230285645, -0.42553597688674927, 1.0973143577575684, 0.8344777822494507, -0.026541002094745636, 0.026541002094745636], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6620507836341858, -1.1263065338134766, 1.058022379875183, 1.518463373184204, -0.9397650361061096, -1.3838025331497192, -0.0012540173484012485, 0.0012540173484012485, 0.2771419882774353, -1.1839094161987305, 0.9805828928947449, -0.4728389382362366, 1.10685133934021, 0.8344777822494507, -0.026541002094745636, 0.026541002094745636], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6631952524185181, -1.1263065338134766, 1.0568779706954956, 1.5180819034576416, -0.9401465058326721, -1.3838025331497192, -0.0012540173484012485, 0.0012540173484012485, 0.30537116527557373, -1.1583504676818848, 0.9340428709983826, -0.5018310546875, 1.0679408311843872, 0.8230335116386414, -0.026541002094745636, 0.026541002094745636], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6635767221450806, -1.1255435943603516, 1.056496500968933, 1.516937494277954, -0.9405279755592346, -1.3838025331497192, -0.0012540173484012485, 0.0012540173484012485, 0.33207446336746216, -1.1446174383163452, 0.9031433463096619, -0.5144197940826416, 1.0183489322662354, 0.8192187547683716, -0.026541002094745636, 0.026541002094745636], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6635767221450806, -1.125162124633789, 1.056496500968933, 1.5173189640045166, -0.9401465058326721, -1.3834210634231567, -0.0012540173484012485, 0.0012540173484012485, 0.3561074137687683, -1.1377508640289307, 0.8875028491020203, -0.5239566564559937, 0.9641794562339783, 0.8199816942214966, -0.026531340554356575, 0.026531340554356575], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.125162124633789, 1.0561150312423706, 1.517700433731079, -0.9401465058326721, -1.3834210634231567, -0.0012540173484012485, 0.0012540173484012485, 0.3854810297489166, -1.1373693943023682, 0.881017804145813, -0.5270084738731384, 0.9126802682876587, 0.8245593905448914, -0.026502346619963646, 0.026502346619963646], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.125162124633789, 1.055733561515808, 1.517700433731079, -0.9401465058326721, -1.3830395936965942, -0.0012540173484012485, 0.0012540173484012485, 0.41599908471107483, -1.1491950750350952, 0.8844510316848755, -0.5319676399230957, 0.8581292629241943, 0.8291370868682861, -0.024487631395459175, 0.024487631395459175], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.125162124633789, 1.054970622062683, 1.517700433731079, -0.9405279755592346, -1.3830395936965942, -0.0012540173484012485, 0.0012540173484012485, 0.44728007912635803, -1.1747539043426514, 0.8985656499862671, -0.5319676399230957, 0.8085374236106873, 0.839436948299408, -0.023834511637687683, 0.023834511637687683], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.125162124633789, 1.054970622062683, 1.5173189640045166, -0.9401465058326721, -1.3830395936965942, -0.0012540173484012485, 0.0012540173484012485, 0.4732204079627991, -1.2075608968734741, 0.919165313243866, -0.5323491096496582, 0.7658121585845947, 0.8524070978164673, -0.007706985808908939, 0.007706985808908939], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6643396615982056, -1.1247806549072266, 1.054207682609558, 1.517700433731079, -0.9401465058326721, -1.3822766542434692, -0.0012540173484012485, 0.0012540173484012485, 0.4682612419128418, -1.2262531518936157, 0.9306095838546753, -0.465209424495697, 0.7734416723251343, 0.8253223299980164, -0.00016165558190550655, 0.00016165558190550655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6620507836341858, -1.1247806549072266, 1.052681803703308, 1.517700433731079, -0.9405279755592346, -1.3796063661575317, -0.0012540173484012485, 0.0012540173484012485, 0.40989547967910767, -1.2300678491592407, 0.9225986003875732, -0.25120165944099426, 0.8806362748146057, 0.7215610146522522, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6597619652748108, -1.1247806549072266, 1.050774335861206, 1.516937494277954, -0.9405279755592346, -1.3761730194091797, -0.0012540173484012485, 0.0012540173484012485, 0.3236820101737976, -1.2300678491592407, 0.9355688095092773, -0.008201723918318748, 1.0049973726272583, 0.6517509818077087, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6589990258216858, -1.1247806549072266, 1.0496299266815186, 1.516937494277954, -0.9401465058326721, -1.3715953826904297, -0.0012540173484012485, 0.0012540173484012485, 0.25349050760269165, -1.2399863004684448, 0.9817273020744324, 0.14095520973205566, 1.0748074054718018, 0.6429770588874817, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6582360863685608, -1.1247806549072266, 1.0488669872283936, 1.516937494277954, -0.9401465058326721, -1.3666361570358276, -0.0012540173484012485, 0.0012540173484012485, 0.2145799994468689, -1.2548638582229614, 1.0328450202941895, 0.22297245264053345, 1.0831998586654663, 0.6517509818077087, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -1.124399185180664, 1.0488669872283936, 1.5165560245513916, -0.9386205673217773, -1.3647288084030151, -0.0012540173484012485, 0.0012540173484012485, 0.20504310727119446, -1.275081992149353, 1.0835813283920288, 0.26798656582832336, 1.0530632734298706, 0.6639581918716431, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -1.124399185180664, 1.0488669872283936, 1.5165560245513916, -0.9382390975952148, -1.3639658689498901, -0.0012540173484012485, 0.0012540173484012485, 0.20923933386802673, -1.2930114269256592, 1.1278324127197266, 0.29812315106391907, 1.0084306001663208, 0.6776912808418274, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.657473087310791, -1.124399185180664, 1.048485517501831, 1.516937494277954, -0.9363317489624023, -1.3643473386764526, -0.0012540173484012485, 0.0012540173484012485, 0.23327229917049408, -1.3071259260177612, 1.1621652841567993, 0.3114747703075409, 0.9462500810623169, 0.6818875670433044, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6589990258216858, -1.124399185180664, 1.047722578048706, 1.5180819034576416, -0.9374761581420898, -1.3639658689498901, -0.0012540173484012485, 0.0012540173484012485, 0.2641718089580536, -1.3162813186645508, 1.1827648878097534, 0.30460822582244873, 0.8703364729881287, 0.6815060377120972, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6593804955482483, -1.124399185180664, 1.046959638595581, 1.5180819034576416, -0.9428167939186096, -1.3643473386764526, -0.0012540173484012485, 0.0012540173484012485, 0.3072785437107086, -1.3292515277862549, 1.201838731765747, 0.17452506721019745, 0.7742046117782593, 0.7162203192710876, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6597619652748108, -1.1240177154541016, 1.0465781688690186, 1.5188448429107666, -0.9435797929763794, -1.3639658689498901, -0.0012540173484012485, 0.0012540173484012485, 0.3412298858165741, -1.3456549644470215, 1.2144273519515991, 0.002861066721379757, 0.7169833183288574, 0.7734416723251343, -0.004564861301332712, 0.004564861301332712], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.1240177154541016, 1.0458152294158936, 1.518463373184204, -0.9435797929763794, -1.3643473386764526, -0.0012540173484012485, 0.0012540173484012485, 0.35229265689849854, -1.3666361570358276, 1.2445639371871948, -0.1844434291124344, 0.7017242908477783, 0.8405813574790955, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6616693139076233, -1.1232547760009766, 1.0442893505096436, 1.516174554824829, -0.9428167939186096, -1.3651102781295776, -0.0012540173484012485, 0.0012540173484012485, 0.34809643030166626, -1.3811322450637817, 1.2834744453430176, -0.37861448526382446, 0.7734416723251343, 0.9138246774673462, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.1217288970947266, 1.040474534034729, 1.516937494277954, -0.9424353241920471, -1.3681620359420776, -0.001249968889169395, 0.001249968889169395, 0.31605249643325806, -1.3796063661575317, 1.3071259260177612, -0.5071717500686646, 0.8764400482177734, 0.9576943516731262, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.120202898979187, 1.037422776222229, 1.519226312637329, -0.9416723847389221, -1.3723583221435547, -0.0012540173484012485, 0.0012540173484012485, 0.2965972423553467, -1.3483253717422485, 1.2930114269256592, -0.5743114352226257, 0.9924086332321167, 0.9660868048667908, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.119439959526062, 1.034752368927002, 1.5180819034576416, -0.9416723847389221, -1.3731212615966797, -0.0012540173484012485, 0.0012540173484012485, 0.30193790793418884, -1.2903410196304321, 1.2308309078216553, -0.6155108213424683, 1.0679408311843872, 0.9443427324295044, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.1190584897994995, 1.0336079597473145, 1.5165560245513916, -0.9409094452857971, -1.3754100799560547, -0.0012540173484012485, 0.0012540173484012485, 0.3255893886089325, -1.2209124565124512, 1.1430914402008057, -0.6361104846000671, 1.0805294513702393, 0.9130617380142212, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.118677020072937, 1.0328450202941895, 1.516937494277954, -0.9405279755592346, -1.3757915496826172, -0.0012540173484012485, 0.0012540173484012485, 0.3576333224773407, -1.1789501905441284, 1.0725184679031372, -0.648699164390564, 1.0702296495437622, 0.8894102573394775, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.118677020072937, 1.0320820808410645, 1.5173189640045166, -0.9401465058326721, -1.3757915496826172, -0.0012540173484012485, 0.0012540173484012485, 0.3892957866191864, -1.1579689979553223, 1.0210193395614624, -0.6597619652748108, 1.0320820808410645, 0.8741512298583984, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.118677020072937, 1.0320820808410645, 1.5173189640045166, -0.9401465058326721, -1.3757915496826172, -0.0012540173484012485, 0.0012540173484012485, 0.4194323718547821, -1.1472877264022827, 0.9878309369087219, -0.6589990258216858, 0.9916456937789917, 0.8592736721038818, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.118677020072937, 1.0320820808410645, 1.5173189640045166, -0.9401465058326721, -1.3757915496826172, -0.0012540173484012485, 0.0012540173484012485, 0.4365987777709961, -1.1453803777694702, 0.967231273651123, -0.6658655405044556, 0.9435797929763794, 0.8516441583633423, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.118677020072937, 1.0320820808410645, 1.5173189640045166, -0.9401465058326721, -1.3757915496826172, -0.0012540173484012485, 0.0012540173484012485, 0.4526207447052002, -1.1511024236679077, 0.9565499424934387, -0.6658655405044556, 0.9100099205970764, 0.8436331748962402, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.118677020072937, 1.0320820808410645, 1.5173189640045166, -0.9401465058326721, -1.3754100799560547, -0.0012540173484012485, 0.0012540173484012485, 0.45719844102859497, -1.1621652841567993, 0.952735185623169, -0.6666285395622253, 0.8737697601318359, 0.8375295400619507, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.118677020072937, 1.0320820808410645, 1.5180819034576416, -0.9401465058326721, -1.3750286102294922, -0.0012540173484012485, 0.0012540173484012485, 0.4640650153160095, -1.1758984327316284, 0.951972246170044, -0.6658655405044556, 0.8543145060539246, 0.8333333134651184, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.118677020072937, 1.0320820808410645, 1.5188448429107666, -0.9401465058326721, -1.3715953826904297, -0.0012540173484012485, 0.0012540173484012485, 0.464446485042572, -1.19153892993927, 0.9523537158966064, -0.6666285395622253, 0.8299000263214111, 0.8291370868682861, -0.023685725405812263, 0.023685725405812263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6612878441810608, -1.118677020072937, 1.0320820808410645, 1.518463373184204, -0.9401465058326721, -1.3719768524169922, -0.0012540173484012485, 0.0012540173484012485, 0.465209424495697, -1.2090867757797241, 0.9584572911262512, -0.6666285395622253, 0.8112077713012695, 0.8257037997245789, -0.023655951023101807, 0.023655951023101807], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6609063744544983, -1.118677020072937, 1.0313191413879395, 1.519226312637329, -0.9409094452857971, -1.3719768524169922, -0.0012540173484012485, 0.0012540173484012485, 0.4694056510925293, -1.2357900142669678, 0.970283031463623, -0.6662470698356628, 0.7982375621795654, 0.8234149813652039, -0.02289055660367012, 0.02289055660367012], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6605249047279358, -1.118677020072937, 1.0313191413879395, 1.5188448429107666, -0.9412909150123596, -1.3715953826904297, -0.0012540173484012485, 0.0012540173484012485, 0.47627222537994385, -1.2644007205963135, 0.9863049983978271, -0.6673914790153503, 0.7837415337562561, 0.8237964510917664, -0.015524294227361679, 0.015524294227361679], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6589990258216858, -1.118677020072937, 1.0313191413879395, 1.518463373184204, -0.9409094452857971, -1.3704508543014526, -0.0012540173484012485, 0.0012540173484012485, 0.4846646785736084, -1.28385591506958, 1.0023269653320312, -0.6677729487419128, 0.770771324634552, 0.8272297382354736, -0.001137564773671329, 0.001137564773671329], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6578545570373535, -1.117914080619812, 1.0313191413879395, 1.5165560245513916, -0.9409094452857971, -1.3677805662155151, -0.0012540173484012485, 0.0012540173484012485, 0.4854276478290558, -1.2930114269256592, 1.0255969762802124, -0.6677729487419128, 0.7845044732093811, 0.8272297382354736, -0.0001345833152299747, 0.0001345833152299747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6548027992248535, -1.117151141166687, 1.030174732208252, 1.516174554824829, -0.9397650361061096, -1.3677805662155151, -0.0012540173484012485, 0.0012540173484012485, 0.464446485042572, -1.2937743663787842, 1.0660333633422852, -0.6662470698356628, 0.8676661252975464, 0.8241779208183289, -0.0001345833152299747, 0.0001345833152299747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6528953909873962, -1.117151141166687, 1.0290303230285645, 1.516174554824829, -0.9401465058326721, -1.3677805662155151, -0.0012540173484012485, 0.0012540173484012485, 0.41485464572906494, -1.275844931602478, 1.1030365228652954, -0.6017776727676392, 1.025978446006775, 0.7673380374908447, -0.0001345833152299747, 0.0001345833152299747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6517509818077087, -1.116388201713562, 1.0290303230285645, 1.516174554824829, -0.9405279755592346, -1.3677805662155151, -0.0012540173484012485, 0.0012540173484012485, 0.3545815348625183, -1.2453268766403198, 1.1144808530807495, -0.506790280342102, 1.1919203996658325, 0.7040131092071533, -0.0001345833152299747, 0.0001345833152299747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6506065726280212, -1.116388201713562, 1.0290303230285645, 1.5165560245513916, -0.9405279755592346, -1.3681620359420776, -0.0012540173484012485, 0.0012540173484012485, 0.2969787120819092, -1.2029831409454346, 1.1015106439590454, -0.43125811219215393, 1.3227664232254028, 0.6509880423545837, -0.0001345833152299747, 0.0001345833152299747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.649462103843689, -1.116388201713562, 1.0290303230285645, 1.5165560245513916, -0.9405279755592346, -1.3685435056686401, -0.001249968889169395, 0.001249968889169395, 0.26684215664863586, -1.1583504676818848, 1.0679408311843872, -0.39425498247146606, 1.4238574504852295, 0.6010147333145142, -0.0001345833152299747, 0.0001345833152299747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.648699164390564, -1.116388201713562, 1.0290303230285645, 1.516937494277954, -0.9405279755592346, -1.3719768524169922, -0.0012540173484012485, 0.0012540173484012485, 0.2508201599121094, -1.1118104457855225, 1.0187304019927979, -0.36640727519989014, 1.514648675918579, 0.5460822582244873, -0.0001345833152299747, 0.0001345833152299747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.648699164390564, -1.116388201713562, 1.0290303230285645, 1.5188448429107666, -0.9405279755592346, -1.3719768524169922, -0.0012540173484012485, 0.0012540173484012485, 0.23594263195991516, -1.0717555284500122, 0.9508277773857117, -0.3557259440422058, 1.5810253620147705, 0.5014495849609375, -0.0001345833152299747, 0.0001345833152299747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.648699164390564, -1.116388201713562, 1.0290303230285645, 1.5180819034576416, -0.9405279755592346, -1.3727397918701172, -0.001249968889169395, 0.001249968889169395, 0.22068360447883606, -1.038185715675354, 0.8726252913475037, -0.35076677799224854, 1.6298543214797974, 0.4537651538848877, -0.0001345833152299747, 0.0001345833152299747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.648699164390564, -1.116388201713562, 1.0290303230285645, 1.5173189640045166, -0.9405279755592346, -1.3754100799560547, -0.0012540173484012485, 0.0012540173484012485, 0.2145799994468689, -1.0141527652740479, 0.8005264401435852, -0.3770885765552521, 1.6077287197113037, 0.4335469603538513, -0.0001345833152299747, 0.0001345833152299747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.648699164390564, -1.116388201713562, 1.0290303230285645, 1.5180819034576416, -0.9405279755592346, -1.3761730194091797, -0.0012540173484012485, 0.0012540173484012485, 0.23212787508964539, -1.0076676607131958, 0.7471198439598083, -0.42629891633987427, 1.495193362236023, 0.4507133662700653, -0.0001345833152299747, 0.0001345833152299747], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.649462103843689, -1.116388201713562, 1.0290303230285645, 1.517700433731079, -0.9405279755592346, -1.3799878358840942, -0.0012540173484012485, 0.0012540173484012485, 0.27218279242515564, -1.0088120698928833, 0.7219424843788147, -0.4549095928668976, 1.3799878358840942, 0.482375830411911, -0.002379070967435837, 0.002379070967435837], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6509880423545837, -1.116388201713562, 1.0290303230285645, 1.517700433731079, -0.9405279755592346, -1.3799878358840942, -0.001249968889169395, 0.001249968889169395, 0.29888609051704407, -1.0206378698349, 0.735675573348999, -0.4713130295276642, 1.2781338691711426, 0.5289158225059509, -0.024803215637803078, 0.024803215637803078], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6532768607139587, -1.1160067319869995, 1.0290303230285645, 1.517700433731079, -0.9405279755592346, -1.3799878358840942, -0.0012540173484012485, 0.0012540173484012485, 0.31719690561294556, -1.035896897315979, 0.7833600640296936, -0.47589075565338135, 1.205653429031372, 0.5861371755599976, -0.027404896914958954, 0.027404896914958954], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.656710147857666, -1.1152437925338745, 1.0290303230285645, 1.5173189640045166, -0.9405279755592346, -1.3811322450637817, -0.0012540173484012485, 0.0012540173484012485, 0.3427557647228241, -1.0671778917312622, 0.837911069393158, -0.483138769865036, 1.1144808530807495, 0.6433585286140442, -0.027404896914958954, 0.027404896914958954], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6597619652748108, -1.1152437925338745, 1.0290303230285645, 1.5173189640045166, -0.9405279755592346, -1.3826581239700317, -0.0012540173484012485, 0.0012540173484012485, 0.3702220320701599, -1.1144808530807495, 0.8775845170021057, -0.4873350262641907, 1.0488669872283936, 0.6898985505104065, -0.027404896914958954, 0.027404896914958954], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6624323129653931, -1.114862322807312, 1.0290303230285645, 1.5173189640045166, -0.9405279755592346, -1.3826581239700317, -0.0012540173484012485, 0.0012540173484012485, 0.3923476040363312, -1.1552987098693848, 0.8947508931159973, -0.49000534415245056, 0.9874494671821594, 0.7230868935585022, -0.027404896914958954, 0.027404896914958954], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6635767221450806, -1.1144808530807495, 1.0290303230285645, 1.5173189640045166, -0.9405279755592346, -1.3826581239700317, -0.0012540173484012485, 0.0012540173484012485, 0.41218432784080505, -1.183146357536316, 0.8978027105331421, -0.49076828360557556, 0.927176296710968, 0.7402533292770386, -0.027404896914958954, 0.027404896914958954], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6651026010513306, -1.1144808530807495, 1.0290303230285645, 1.5173189640045166, -0.9405279755592346, -1.3826581239700317, -0.0012540173484012485, 0.0012540173484012485, 0.42896926403045654, -1.2079423666000366, 0.8989471197128296, -0.49076828360557556, 0.8703364729881287, 0.7513160705566406, -0.027376292273402214, 0.027376292273402214], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6651026010513306, -1.1144808530807495, 1.0290303230285645, 1.517700433731079, -0.9409094452857971, -1.3826581239700317, -0.0012540173484012485, 0.0012540173484012485, 0.4488059878349304, -1.2319753170013428, 0.9035248160362244, -0.49267566204071045, 0.8165484070777893, 0.7639048099517822, -0.016404878348112106, 0.016404878348112106], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6651026010513306, -1.114099383354187, 1.0290303230285645, 1.517700433731079, -0.9405279755592346, -1.3826581239700317, -0.0012540173484012485, 0.0012540173484012485, 0.4667353332042694, -1.2449454069137573, 0.9153505563735962, -0.49305713176727295, 0.7951858043670654, 0.767719566822052, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6631952524185181, -1.11295485496521, 1.0290303230285645, 1.5173189640045166, -0.9401465058326721, -1.3822766542434692, -0.0012540173484012485, 0.0012540173484012485, 0.4671168029308319, -1.2209124565124512, 0.9287022352218628, -0.49420157074928284, 0.8398184180259705, 0.7490272521972656, -0.00010428895620862022, 0.00010428895620862022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6620507836341858, -1.1118104457855225, 1.0290303230285645, 1.5165560245513916, -0.9401465058326721, -1.3818951845169067, -0.0012540173484012485, 0.0012540173484012485, 0.440032035112381, -1.1350804567337036, 0.9206912517547607, -0.49191272258758545, 0.9348058104515076, 0.7101167440414429, -0.00010428895620862022, 0.00010428895620862022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6609063744544983, -1.110666036605835, 1.0290303230285645, 1.5173189640045166, -0.9405279755592346, -1.3796063661575317, -0.0012540173484012485, 0.0012540173484012485, 0.3900587558746338, -1.0111008882522583, 0.8855955004692078, -0.49153125286102295, 1.040474534034729, 0.6746395230293274, -0.00010764654143713415, 0.00010764654143713415], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6597619652748108, -1.1102845668792725, 1.027885913848877, 1.517700433731079, -0.9401465058326721, -1.3792248964309692, -0.0012540173484012485, 0.0012540173484012485, 0.3282597064971924, -0.8844510316848755, 0.8318074345588684, -0.49267566204071045, 1.1549172401428223, 0.6528953909873962, -0.00010764654143713415, 0.00010764654143713415], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6593804955482483, -1.1102845668792725, 1.0267413854599, 1.517700433731079, -0.9401465058326721, -1.3776988983154297, -0.0012540173484012485, 0.0012540173484012485, 0.2798123061656952, -0.7928969264030457, 0.7715343236923218, -0.49382010102272034, 1.2537193298339844, 0.6391623020172119, -0.00010428895620862022, 0.00010428895620862022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6570916175842285, -1.1102845668792725, 1.0255969762802124, 1.517700433731079, -0.9401465058326721, -1.3746471405029297, -0.0012540173484012485, 0.0012540173484012485, 0.25310903787612915, -0.7513160705566406, 0.7104982137680054, -0.49420157074928284, 1.3086519241333008, 0.6277180314064026, -0.00010428895620862022, 0.00010428895620862022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6548027992248535, -1.1102845668792725, 1.02521550655365, 1.517700433731079, -0.9401465058326721, -1.3715953826904297, -0.0012540173484012485, 0.0012540173484012485, 0.23861294984817505, -0.7570382356643677, 0.6609063744544983, -0.49382010102272034, 1.3178073167800903, 0.6166552305221558, -0.00010428895620862022, 0.00010428895620862022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6517509818077087, -1.1102845668792725, 1.024452567100525, 1.517700433731079, -0.9401465058326721, -1.3700693845748901, -0.0012540173484012485, 0.0012540173484012485, 0.23250934481620789, -0.7955672740936279, 0.6326771974563599, -0.49343863129615784, 1.3200961351394653, 0.6132219433784485, -0.0016708332113921642, 0.0016708332113921642], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.650225043296814, -1.1102845668792725, 1.0240710973739624, 1.517700433731079, -0.9405279755592346, -1.3666361570358276, -0.0012540173484012485, 0.0012540173484012485, 0.23212787508964539, -0.8413442969322205, 0.6254291534423828, -0.49382010102272034, 1.3040741682052612, 0.619325578212738, -0.020838672295212746, 0.020838672295212746], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.648699164390564, -1.1102845668792725, 1.0236896276474, 1.517700433731079, -0.9405279755592346, -1.3632028102874756, -0.0012540173484012485, 0.0012540173484012485, 0.23289081454277039, -0.8756771087646484, 0.6513695120811462, -0.49343863129615784, 1.2579156160354614, 0.6483176946640015, -0.027041560038924217, 0.027041560038924217], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6483176946640015, -1.1102845668792725, 1.0236896276474, 1.5173189640045166, -0.9401465058326721, -1.3601510524749756, -0.001249968889169395, 0.001249968889169395, 0.25120165944099426, -0.9012359976768494, 0.6956206560134888, -0.49038681387901306, 1.1747539043426514, 0.6830319762229919, -0.02751917764544487, 0.02751917764544487], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.647936224937439, -1.1102845668792725, 1.0233081579208374, 1.5173189640045166, -0.9401465058326721, -1.3601510524749756, -0.001249968889169395, 0.001249968889169395, 0.290875107049942, -0.952735185623169, 0.7475013136863708, -0.49000534415245056, 1.0755703449249268, 0.7215610146522522, -0.027784934267401695, 0.027784934267401695], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.647936224937439, -1.1102845668792725, 1.0236896276474, 1.517700433731079, -0.9401465058326721, -1.360532522201538, -0.0012540173484012485, 0.0012540173484012485, 0.33436331152915955, -1.0233081579208374, 0.7932783961296082, -0.49000534415245056, 1.0015640258789062, 0.7486457824707031, -0.027784934267401695, 0.027784934267401695], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6483176946640015, -1.1102845668792725, 1.0233081579208374, 1.5173189640045166, -0.9401465058326721, -1.360532522201538, -0.0012540173484012485, 0.0012540173484012485, 0.36907759308815, -1.0889219045639038, 0.8253223299980164, -0.49038681387901306, 0.9386205673217773, 0.7673380374908447, -0.027784934267401695, 0.027784934267401695], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.648699164390564, -1.10990309715271, 1.0236896276474, 1.5173189640045166, -0.9401465058326721, -1.360532522201538, -0.0012540173484012485, 0.0012540173484012485, 0.3858625292778015, -1.1373693943023682, 0.8432517051696777, -0.49076828360557556, 0.8909361362457275, 0.7818341255187988, -0.027784934267401695, 0.027784934267401695], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.649462103843689, -1.1079957485198975, 1.0233081579208374, 1.517700433731079, -0.9405279755592346, -1.3609139919281006, -0.0012540173484012485, 0.0012540173484012485, 0.39654383063316345, -1.1655985116958618, 0.8527885675430298, -0.49114975333213806, 0.8627069592475891, 0.7875562906265259, -0.027784934267401695, 0.027784934267401695], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6498435735702515, -1.107614278793335, 1.022926688194275, 1.5173189640045166, -0.9405279755592346, -1.3609139919281006, -0.001249968889169395, 0.001249968889169395, 0.4022659659385681, -1.180857539176941, 0.8577477931976318, -0.49114975333213806, 0.8428702354431152, 0.7902265787124634, -0.027784934267401695, 0.027784934267401695], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6498435735702515, -1.1072328090667725, 1.022926688194275, 1.517700433731079, -0.9405279755592346, -1.361295461654663, -0.001249968889169395, 0.001249968889169395, 0.4037918746471405, -1.1926833391189575, 0.8607995510101318, -0.49153125286102295, 0.8237964510917664, 0.7902265787124634, -0.027926772832870483, 0.027926772832870483], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6498435735702515, -1.1072328090667725, 1.022926688194275, 1.5180819034576416, -0.9405279755592346, -1.362058401107788, -0.0012540173484012485, 0.0012540173484012485, 0.41103988885879517, -1.204890489578247, 0.8642328381538391, -0.49153125286102295, 0.8073930144309998, 0.7883192300796509, -0.028058810159564018, 0.028058810159564018], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6498435735702515, -1.10685133934021, 1.0225452184677124, 1.5188448429107666, -0.9409094452857971, -1.3639658689498901, -0.0012540173484012485, 0.0012540173484012485, 0.4209582805633545, -1.2186236381530762, 0.8691920638084412, -0.49114975333213806, 0.7833600640296936, 0.7776378989219666, -0.02863004058599472, 0.02863004058599472], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6509880423545837, -1.1057069301605225, 1.0217822790145874, 1.519226312637329, -0.9435797929763794, -1.3643473386764526, -0.001249968889169395, 0.001249968889169395, 0.4377431869506836, -1.2430380582809448, 0.883306622505188, -0.49305713176727295, 0.761997401714325, 0.7711527943611145, -0.028676558285951614, 0.028676558285951614], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6517509818077087, -1.1053253412246704, 1.021400809288025, 1.519226312637329, -0.9431982636451721, -1.3643473386764526, -0.0012540173484012485, 0.0012540173484012485, 0.45986875891685486, -1.2773709297180176, 0.9107728600502014, -0.49420157074928284, 0.7509346008300781, 0.7711527943611145, -0.020838672295212746, 0.020838672295212746], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6517509818077087, -1.1045624017715454, 1.021400809288025, 1.516937494277954, -0.9428167939186096, -1.3643473386764526, -0.0012540173484012485, 0.0012540173484012485, 0.47589075565338135, -1.2994964122772217, 0.9412909150123596, -0.4873350262641907, 0.7497901916503906, 0.7745860815048218, -0.000351475493516773, 0.000351475493516773], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6506065726280212, -1.101129174232483, 1.0202564001083374, 1.5157930850982666, -0.9397650361061096, -1.3643473386764526, -0.0012540173484012485, 0.0012540173484012485, 0.4526207447052002, -1.3002593517303467, 0.9496833682060242, -0.3843366205692291, 0.8009079098701477, 0.7112611532211304, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6467918157577515, -1.0973143577575684, 1.0164415836334229, 1.516174554824829, -0.9397650361061096, -1.3643473386764526, -0.001249968889169395, 0.001249968889169395, 0.37937742471694946, -1.2861448526382446, 0.9420538544654846, -0.20084688067436218, 0.9431982636451721, 0.6044480204582214, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6418325901031494, -1.0934996604919434, 1.0118639469146729, 1.516174554824829, -0.9397650361061096, -1.3639658689498901, -0.0012540173484012485, 0.0012540173484012485, 0.290112167596817, -1.256008267402649, 0.9458686113357544, -0.06198977679014206, 1.1369879245758057, 0.54417484998703, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6353475451469421, -1.0919737815856934, 1.0088120698928833, 1.5165560245513916, -0.9409094452857971, -1.3635843992233276, -0.0012540173484012485, 0.0012540173484012485, 0.19550621509552002, -1.199549913406372, 0.9760051965713501, 0.024986648932099342, 1.2842373847961426, 0.5308232307434082, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6296253800392151, -1.0908293724060059, 1.0072861909866333, 1.516174554824829, -0.9401465058326721, -1.3632028102874756, -0.0012540173484012485, 0.0012540173484012485, 0.12951095402240753, -1.1442358493804932, 1.040474534034729, 0.06885633617639542, 1.3689249753952026, 0.54112309217453, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6242847442626953, -1.0904479026794434, 1.0065232515335083, 1.516937494277954, -0.9401465058326721, -1.360532522201538, -0.0012540173484012485, 0.0012540173484012485, 0.08144503086805344, -1.1057069301605225, 1.1472877264022827, 0.09746700525283813, 1.409742832183838, 0.5796520709991455, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.621614396572113, -1.0904479026794434, 1.0053788423538208, 1.518463373184204, -0.9405279755592346, -1.360532522201538, -0.001249968889169395, 0.001249968889169395, 0.05970092490315437, -1.0885404348373413, 1.2708858251571655, 0.11463340371847153, 1.4272907972335815, 0.6273365616798401, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6189440488815308, -1.0904479026794434, 1.0053788423538208, 1.5188448429107666, -0.9424353241920471, -1.3601510524749756, -0.001249968889169395, 0.001249968889169395, 0.04558632895350456, -1.0866330862045288, 1.3914320468902588, 0.12493324279785156, 1.4158464670181274, 0.6757839322090149, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6170367002487183, -1.0908293724060059, 1.0049973726272583, 1.518463373184204, -0.9420538544654846, -1.3601510524749756, -0.0012540173484012485, 0.0012540173484012485, 0.0398641936480999, -1.0908293724060059, 1.493667483329773, 0.12836651504039764, 1.3921949863433838, 0.7177462577819824, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6101701259613037, -1.0923552513122559, 1.0049973726272583, 1.516174554824829, -0.9390020370483398, -1.360532522201538, -0.0012540173484012485, 0.0012540173484012485, 0.03528648987412453, -1.0984588861465454, 1.5772106647491455, 0.13103684782981873, 1.3570992946624756, 0.7501716613769531, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5994887948036194, -1.0942625999450684, 1.0027084350585938, 1.5165560245513916, -0.9397650361061096, -1.360532522201538, -0.001249968889169395, 0.001249968889169395, 0.03376058489084244, -1.1087586879730225, 1.6531243324279785, 0.13141833245754242, 1.3208590745925903, 0.7776378989219666, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5918593406677246, -1.0950255393981934, 1.0000381469726562, 1.516937494277954, -0.9386205673217773, -1.360532522201538, -0.0012540173484012485, 0.0012540173484012485, 0.032616160809993744, -1.123636245727539, 1.729037880897522, 0.13141833245754242, 1.2781338691711426, 0.7982375621795654, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5861371755599976, -1.0954070091247559, 0.9969863295555115, 1.518463373184204, -0.9401465058326721, -1.360532522201538, -0.0012540173484012485, 0.0012540173484012485, 0.03185320645570755, -1.1411840915679932, 1.8118181228637695, 0.1348516047000885, 1.2209124565124512, 0.8104447722434998, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5830853581428528, -1.0954070091247559, 0.995841920375824, 1.519226312637329, -0.9397650361061096, -1.3601510524749756, -0.0012540173484012485, 0.0012540173484012485, 0.03185320645570755, -1.1591134071350098, 1.883916974067688, 0.1348516047000885, 1.1480506658554077, 0.8169298768043518, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5819409489631653, -1.0954070091247559, 0.9946975111961365, 1.516174554824829, -0.9393835067749023, -1.3601510524749756, -0.001249968889169395, 0.001249968889169395, 0.03185320645570755, -1.1736094951629639, 1.9434272050857544, 0.1356145590543747, 1.0591669082641602, 0.8169298768043518, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5796520709991455, -1.0954070091247559, 0.9939345121383667, 1.5180819034576416, -0.9401465058326721, -1.3601510524749756, -0.001249968889169395, 0.001249968889169395, 0.03147173300385475, -1.1846723556518555, 1.978904366493225, 0.135233074426651, 0.9840161800384521, 0.8096818327903748, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5766003131866455, -1.0954070091247559, 0.9927901029586792, 1.5196079015731812, -0.9401465058326721, -1.3601510524749756, -0.001249968889169395, 0.001249968889169395, 0.03147173300385475, -1.188868522644043, 1.9987411499023438, 0.1356145590543747, 0.919165313243866, 0.7852674126625061, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5754558444023132, -1.0954070091247559, 0.9927901029586792, 1.516174554824829, -0.9401465058326721, -1.360532522201538, -0.001249968889169395, 0.001249968889169395, 0.03147173300385475, -1.1926833391189575, 2.0071334838867188, 0.135233074426651, 0.8611810207366943, 0.7551308274269104, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5716410875320435, -1.0954070091247559, 0.9927901029586792, 1.516174554824829, -0.9397650361061096, -1.360532522201538, -0.001249968889169395, 0.001249968889169395, 0.03147173300385475, -1.1934462785720825, 2.0037002563476562, 0.1356145590543747, 0.8237964510917664, 0.7219424843788147, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5624856948852539, -1.0954070091247559, 0.9912642240524292, 1.516937494277954, -0.9401465058326721, -1.362058401107788, -0.001249968889169395, 0.001249968889169395, 0.03147173300385475, -1.19459068775177, 1.9865338802337646, 0.10509651154279709, 0.8100633025169373, 0.7066834568977356, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5445563197135925, -1.0954070091247559, 0.9893568158149719, 1.5165560245513916, -0.9397650361061096, -1.3761730194091797, -0.001249968889169395, 0.001249968889169395, 0.03337911143898964, -1.190394401550293, 1.954108476638794, -0.016975661739706993, 0.8222705721855164, 0.7223239541053772, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5136567950248718, -1.0954070091247559, 0.9832532405853271, 1.5165560245513916, -0.9397650361061096, -1.3944838047027588, -0.001249968889169395, 0.001249968889169395, 0.040245670825242996, -1.1747539043426514, 1.8701838254928589, -0.14400701224803925, 0.8363851308822632, 0.7314793467521667, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4678797721862793, -1.0969328880310059, 0.9737163186073303, 1.5180819034576416, -0.9390020370483398, -1.4200427532196045, -0.001249968889169395, 0.001249968889169395, 0.04139009863138199, -1.1495765447616577, 1.7572671175003052, -0.22373540699481964, 0.8363851308822632, 0.7154573798179626, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41180285811424255, -1.1007477045059204, 0.9641794562339783, 1.5188448429107666, -0.9393835067749023, -1.4600976705551147, -0.001249968889169395, 0.001249968889169395, 0.0551232174038887, -1.1327916383743286, 1.6504539251327515, -0.3530556261539459, 0.8405813574790955, 0.7040131092071533, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36335545778274536, -1.107614278793335, 0.9584572911262512, 1.5196079015731812, -0.9390020370483398, -1.5020599365234375, -0.0012540173484012485, 0.0012540173484012485, 0.09060044586658478, -1.1217288970947266, 1.566147804260254, -0.5334935784339905, 0.8485923409461975, 0.728427529335022, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33054855465888977, -1.117914080619812, 0.9554055333137512, 1.519226312637329, -0.9332799315452576, -1.5512703657150269, -0.001249968889169395, 0.001249968889169395, 0.14476996660232544, -1.1182955503463745, 1.4814603328704834, -0.7795453071594238, 0.8634698987007141, 0.7925154566764832, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.30537116527557373, -1.1308842897415161, 0.951209306716919, 1.516937494277954, -0.9134432077407837, -1.6241321563720703, -0.0012540173484012485, 0.0012540173484012485, 0.18596932291984558, -1.1190584897994995, 1.4024949073791504, -0.9767681360244751, 0.890554666519165, 0.8607995510101318, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28515297174453735, -1.1461433172225952, 0.9428167939186096, 1.516174554824829, -0.8749141693115234, -1.7080568075180054, -0.001249968889169395, 0.001249968889169395, 0.20389868319034576, -1.1297398805618286, 1.3292515277862549, -1.0923552513122559, 0.9325169920921326, 0.9279392957687378, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2660791873931885, -1.1686503887176514, 0.9321355223655701, 1.516174554824829, -0.8321889042854309, -1.796940565109253, -0.001249968889169395, 0.001249968889169395, 0.2157244235277176, -1.1480506658554077, 1.256771206855774, -1.1598763465881348, 0.9733348488807678, 0.9870679974555969, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2473868876695633, -1.1926833391189575, 0.917639434337616, 1.5165560245513916, -0.7883192300796509, -1.8877317905426025, -0.001249968889169395, 0.001249968889169395, 0.22220951318740845, -1.1667429208755493, 1.1839094161987305, -1.199549913406372, 0.9889753460884094, 1.034752368927002, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23212787508964539, -1.2109941244125366, 0.9008545279502869, 1.5173189640045166, -0.7417792081832886, -1.9731823205947876, -0.001249968889169395, 0.001249968889169395, 0.22602425515651703, -1.184290885925293, 1.102655053138733, -1.2270160913467407, 0.9683756828308105, 1.0759518146514893, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22564278542995453, -1.2239643335342407, 0.8894102573394775, 1.516174554824829, -0.6986724734306335, -2.0395591259002686, -0.001249968889169395, 0.001249968889169395, 0.2290760725736618, -1.1949721574783325, 1.0313191413879395, -1.2384604215621948, 0.916113555431366, 1.1079957485198975, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21915769577026367, -1.2350270748138428, 0.8821622133255005, 1.516937494277954, -0.6723506450653076, -2.0838100910186768, -0.0012540173484012485, 0.0012540173484012485, 0.2302204966545105, -1.2022202014923096, 0.9748607873916626, -1.2472343444824219, 0.8485923409461975, 1.1350804567337036, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21839475631713867, -1.2418936491012573, 0.8791103959083557, 1.5188448429107666, -0.647173285484314, -2.1108949184417725, -0.003054412780329585, 0.003054412780329585, 0.23250934481620789, -1.2129014730453491, 0.9378576278686523, -1.2510490417480469, 0.7936598658561707, 1.1594948768615723, -0.0002678472374100238, 0.0002678472374100238], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2153429538011551, -1.2449454069137573, 0.8768215179443359, 1.516174554824829, -0.6380178332328796, -2.126535415649414, -0.00707353325560689, 0.00707353325560689, 0.23250934481620789, -1.2346456050872803, 0.919165313243866, -1.254482388496399, 0.7509346008300781, 1.1804760694503784, -0.00027130701346322894, 0.00027130701346322894], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2157244235277176, -1.2396048307418823, 0.8737697601318359, 1.5157930850982666, -0.6315327882766724, -2.137979745864868, -0.014584317803382874, 0.014584317803382874, 0.23327229917049408, -1.259822964668274, 0.9096284508705139, -1.2563897371292114, 0.7234683632850647, 1.195353627204895, -0.010743754915893078, 0.010743754915893078], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2141985148191452, -1.2129014730453491, 0.8691920638084412, 1.516174554824829, -0.6315327882766724, -2.1437017917633057, -0.019598428159952164, 0.019598428159952164, 0.23327229917049408, -1.2754634618759155, 0.9103913903236389, -1.2571526765823364, 0.7200350761413574, 1.2102311849594116, -0.02898235060274601, 0.02898235060274601], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2145799994468689, -1.1549172401428223, 0.8630884289741516, 1.516174554824829, -0.6315327882766724, -2.1391241550445557, -0.018094604834914207, 0.018094604834914207, 0.23327229917049408, -1.27927827835083, 0.9374761581420898, -1.2571526765823364, 0.7524605393409729, 1.2167162895202637, -0.029240109026432037, 0.029240109026432037], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21877622604370117, -1.0584038496017456, 0.8516441583633423, 1.5165560245513916, -0.6319142580032349, -2.1101319789886475, -0.007479135412722826, 0.007479135412722826, 0.23632410168647766, -1.2438009977340698, 0.9637979865074158, -1.2579156160354614, 0.8001449704170227, 1.2167162895202637, -0.021396180614829063, 0.021396180614829063], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2294575423002243, -0.9355688095092773, 0.8295185565948486, 1.5188448429107666, -0.6315327882766724, -2.059014320373535, -3.095445572398603e-05, 3.095445572398603e-05, 0.25616082549095154, -1.1476691961288452, 0.9489204287528992, -1.2579156160354614, 0.8089188933372498, 1.2178606986999512, -0.009600972756743431, 0.009600972756743431], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2603570520877838, -0.8154039978981018, 0.7936598658561707, 1.518463373184204, -0.6311513185501099, -1.9861524105072021, -3.095445572398603e-05, 3.095445572398603e-05, 0.309567391872406, -0.9882124066352844, 0.8733882904052734, -1.257534146308899, 0.7467383742332458, 1.2201495170593262, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3248264193534851, -0.6857023239135742, 0.727664589881897, 1.5188448429107666, -0.6109330654144287, -1.9041352272033691, -3.095445572398603e-05, 3.095445572398603e-05, 0.4026474356651306, -0.8146410584449768, 0.7646677494049072, -1.257534146308899, 0.647173285484314, 1.2121385335922241, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41294726729393005, -0.5575265288352966, 0.6357290148735046, 1.5157930850982666, -0.5403600931167603, -1.8465323448181152, -3.426579860388301e-05, 3.426579860388301e-05, 0.5266270041465759, -0.6536583304405212, 0.6467918157577515, -1.256771206855774, 0.533875048160553, 1.1942092180252075, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5178530812263489, -0.4377431869506836, 0.5235751867294312, 1.516174554824829, -0.4526207447052002, -1.7893110513687134, -3.095445572398603e-05, 3.095445572398603e-05, 0.6555657386779785, -0.5273899435997009, 0.5304417610168457, -1.2571526765823364, 0.4026474356651306, 1.202601671218872, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6303883194923401, -0.3236820101737976, 0.3931105434894562, 1.516174554824829, -0.3229190409183502, -1.7393378019332886, -3.095445572398603e-05, 3.095445572398603e-05, 0.7654306888580322, -0.4507133662700653, 0.4373617172241211, -1.2571526765823364, 0.2924010157585144, 1.2098497152328491, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7158388495445251, -0.23517967760562897, 0.272945761680603, 1.5165560245513916, -0.1832990050315857, -1.7088197469711304, -3.095445572398603e-05, 3.095445572398603e-05, 0.8222705721855164, -0.41447317600250244, 0.386243999004364, -1.256771206855774, 0.22449836134910583, 1.2212939262390137, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7600900530815125, -0.17910276353359222, 0.1802472025156021, 1.516937494277954, -0.06885633617639542, -1.6920348405838013, -3.095445572398603e-05, 3.095445572398603e-05, 0.8581292629241943, -0.39425498247146606, 0.3542000353336334, -1.2571526765823364, 0.182917520403862, 1.2300678491592407, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.1493476778268814, 0.12417028844356537, 1.516937494277954, -0.004386968910694122, -1.6763943433761597, -3.095445572398603e-05, 3.095445572398603e-05, 0.8737697601318359, -0.3843366205692291, 0.3377965986728668, -1.2571526765823364, 0.16346226632595062, 1.2350270748138428, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7974746227264404, -0.12722209095954895, 0.09479667246341705, 1.5173189640045166, 0.03223468363285065, -1.664568543434143, -3.095445572398603e-05, 3.095445572398603e-05, 0.8829251527786255, -0.37899595499038696, 0.3290226459503174, -1.2571526765823364, 0.1512550562620163, 1.2346456050872803, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80357825756073, -0.10929274559020996, 0.07915617525577545, 1.5180819034576416, 0.039101243019104004, -1.650835394859314, -3.095445572398603e-05, 3.095445572398603e-05, 0.8875028491020203, -0.3759441375732422, 0.32024872303009033, -1.2571526765823364, 0.14324407279491425, 1.2266346216201782, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8001449704170227, -0.09136339277029037, 0.06923781335353851, 1.518463373184204, 0.039101243019104004, -1.643587350845337, -3.095445572398603e-05, 3.095445572398603e-05, 0.88979172706604, -0.3744182586669922, 0.3118562698364258, -1.2571526765823364, 0.1359960287809372, 1.2174792289733887, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8047226667404175, -0.08411535620689392, 0.06389715522527695, 1.5188448429107666, 0.037193864583969116, -1.6329060792922974, -3.095445572398603e-05, 3.095445572398603e-05, 0.890554666519165, -0.3740367889404297, 0.30231937766075134, -1.2571526765823364, 0.1203555315732956, 1.2117570638656616, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8085374236106873, -0.07686731964349747, 0.06198977679014206, 1.518463373184204, 0.02994582988321781, -1.6294728517532349, -3.095445572398603e-05, 3.095445572398603e-05, 0.8909361362457275, -0.3740367889404297, 0.2943083941936493, -1.2571526765823364, 0.10509651154279709, 1.2087053060531616, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.811589241027832, -0.07610437273979187, 0.05092698708176613, 1.5180819034576416, 0.019645990803837776, -1.6306172609329224, -3.095445572398603e-05, 3.095445572398603e-05, 0.8909361362457275, -0.3740367889404297, 0.28896772861480713, -1.257534146308899, 0.09517814964056015, 1.2079423666000366, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8119707107543945, -0.07686731964349747, 0.03185320645570755, 1.5173189640045166, 0.032616160809993744, -1.6340504884719849, -3.095445572398603e-05, 3.095445572398603e-05, 0.892080545425415, -0.3736552894115448, 0.2817196846008301, -1.257534146308899, 0.07686731964349747, 1.2094682455062866, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8127336502075195, -0.07724879682064056, 0.021171892061829567, 1.5165560245513916, 0.04711223021149635, -1.6344319581985474, -3.095445572398603e-05, 3.095445572398603e-05, 0.8928435444831848, -0.36411839723587036, 0.26913100481033325, -1.2571526765823364, 0.0551232174038887, 1.2209124565124512, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.07839322835206985, 0.015449759550392628, 1.5165560245513916, 0.0558861680328846, -1.6340504884719849, -3.426579860388301e-05, 3.426579860388301e-05, 0.8939879536628723, -0.3126192092895508, 0.2439536154270172, -1.257534146308899, 0.061226826161146164, 1.2239643335342407, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.07915617525577545, 0.012397955171763897, 1.5165560245513916, 0.06084534898400307, -1.6340504884719849, -3.095445572398603e-05, 3.095445572398603e-05, 0.8943694233894348, -0.2290760725736618, 0.20275425910949707, -1.257534146308899, 0.07038223743438721, 1.2281605005264282, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.07915617525577545, 0.010872052982449532, 1.516937494277954, 0.06237125024199486, -1.6340504884719849, -3.095445572398603e-05, 3.095445572398603e-05, 0.8943694233894348, -0.17147326469421387, 0.1646067053079605, -1.257534146308899, 0.06885633617639542, 1.2327382564544678, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.813878059387207, -0.07915617525577545, 0.010490577667951584, 1.516937494277954, 0.06580453366041183, -1.6378653049468994, -3.095445572398603e-05, 3.095445572398603e-05, 0.8943694233894348, -0.1516365259885788, 0.13065537810325623, -1.257534146308899, 0.05664911866188049, 1.2434195280075073, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8119707107543945, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06618601083755493, -1.642061471939087, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.14324407279491425, 0.10852979123592377, -1.257534146308899, 0.03604944050312042, 1.2499046325683594, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8104447722434998, -0.07915617525577545, 0.010109102353453636, 1.5180819034576416, 0.06733043491840363, -1.6451133489608765, -3.426579860388301e-05, 3.426579860388301e-05, 0.8966583013534546, -0.14744029939174652, 0.08602273464202881, -1.257534146308899, 0.01773861236870289, 1.2460898160934448, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.804341197013855, -0.07915617525577545, 0.010109102353453636, 1.518463373184204, 0.06733043491840363, -1.651598334312439, -3.095445572398603e-05, 3.095445572398603e-05, 0.8981841802597046, -0.15850308537483215, 0.06466010212898254, -1.257534146308899, -0.010109102353453636, 1.2460898160934448, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7986190319061279, -0.07915617525577545, 0.010109102353453636, 1.5180819034576416, 0.06733043491840363, -1.660753846168518, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.16231784224510193, 0.05397878959774971, -1.257534146308899, -0.029182879254221916, 1.2460898160934448, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7936598658561707, -0.07915617525577545, 0.010109102353453636, 1.518463373184204, 0.06733043491840363, -1.6683833599090576, -3.095445572398603e-05, 3.095445572398603e-05, 0.9000915288925171, -0.1684214472770691, 0.04787518084049225, -1.257534146308899, -0.040245670825242996, 1.2449454069137573, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7917525172233582, -0.07915617525577545, 0.010109102353453636, 1.5180819034576416, 0.06733043491840363, -1.6714351177215576, -3.095445572398603e-05, 3.095445572398603e-05, 0.9004730582237244, -0.16880293190479279, 0.04482337832450867, -1.257534146308899, -0.04482337832450867, 1.2430380582809448, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7898451089859009, -0.07915617525577545, 0.010109102353453636, 1.5180819034576416, 0.06733043491840363, -1.6718165874481201, -3.426579860388301e-05, 3.426579860388301e-05, 0.9004730582237244, -0.17032882571220398, 0.04329747334122658, -1.257534146308899, -0.04940108209848404, 1.2426565885543823, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7894636392593384, -0.07915617525577545, 0.010109102353453636, 1.5180819034576416, 0.06733043491840363, -1.6748683452606201, -3.095445572398603e-05, 3.095445572398603e-05, 0.9004730582237244, -0.17185473442077637, 0.04291599988937378, -1.257534146308899, -0.05054550990462303, 1.2426565885543823, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7883192300796509, -0.07915617525577545, 0.010109102353453636, 1.5180819034576416, 0.06733043491840363, -1.6748683452606201, -3.095445572398603e-05, 3.095445572398603e-05, 0.9004730582237244, -0.17223620414733887, 0.04253452271223068, -1.257534146308899, -0.051689937710762024, 1.2426565885543823, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.07915617525577545, 0.010109102353453636, 1.5180819034576416, 0.06733043491840363, -1.6752498149871826, -3.095445572398603e-05, 3.095445572398603e-05, 0.9004730582237244, -0.17223620414733887, 0.04253452271223068, -1.257534146308899, -0.05397878959774971, 1.2430380582809448, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.07915617525577545, 0.010109102353453636, 1.5180819034576416, 0.06694895774126053, -1.6752498149871826, -3.095445572398603e-05, 3.095445572398603e-05, 0.9004730582237244, -0.17223620414733887, 0.04253452271223068, -1.257534146308899, -0.05397878959774971, 1.2430380582809448, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6760128736495972, -3.426579860388301e-05, 3.426579860388301e-05, 0.9004730582237244, -0.17223620414733887, 0.04253452271223068, -1.257534146308899, -0.05359731614589691, 1.2434195280075073, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.07915617525577545, 0.010109102353453636, 1.5165560245513916, 0.06694895774126053, -1.6763943433761597, -3.426579860388301e-05, 3.426579860388301e-05, 0.9004730582237244, -0.17223620414733887, 0.04253452271223068, -1.257534146308899, -0.05359731614589691, 1.2438009977340698, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.07915617525577545, 0.010109102353453636, 1.5165560245513916, 0.06694895774126053, -1.6783016920089722, -3.426579860388301e-05, 3.426579860388301e-05, 0.9004730582237244, -0.17223620414733887, 0.04253452271223068, -1.257534146308899, -0.05359731614589691, 1.2460898160934448, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.07915617525577545, 0.010109102353453636, 1.5165560245513916, 0.06694895774126053, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.9004730582237244, -0.17223620414733887, 0.04253452271223068, -1.2579156160354614, -0.05359731614589691, 1.2460898160934448, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.07915617525577545, 0.010109102353453636, 1.516937494277954, 0.06694895774126053, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.9004730582237244, -0.17223620414733887, 0.042153049260377884, -1.2579156160354614, -0.05359731614589691, 1.2468528747558594, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.07915617525577545, 0.010109102353453636, 1.5165560245513916, 0.06694895774126053, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.9004730582237244, -0.17223620414733887, 0.04139009863138199, -1.2579156160354614, -0.05397878959774971, 1.2487602233886719, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.07915617525577545, 0.010109102353453636, 1.516937494277954, 0.06694895774126053, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.9004730582237244, -0.17223620414733887, 0.04139009863138199, -1.3075073957443237, -0.05397878959774971, 1.3014038801193237, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, -0.07915617525577545, 0.010109102353453636, 1.516937494277954, 0.06694895774126053, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.9000915288925171, -0.17223620414733887, 0.04139009863138199, -1.4009689092636108, -0.05397878959774971, 1.3952468633651733, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7864118218421936, -0.07915617525577545, 0.010109102353453636, 1.5173189640045166, 0.06694895774126053, -1.6779202222824097, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04139009863138199, -1.4574273824691772, -0.05359731614589691, 1.4520866870880127, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.5173189640045166, 0.06656748056411743, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04139009863138199, -1.4887083768844604, -0.05359731614589691, 1.4837491512298584, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06656748056411743, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04139009863138199, -1.507400631904602, -0.05359731614589691, 1.504348874092102, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06656748056411743, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04139009863138199, -1.5173189640045166, -0.053215838968753815, 1.513885736465454, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06656748056411743, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04139009863138199, -1.5234225988388062, -0.053215838968753815, 1.5199893712997437, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06656748056411743, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04139009863138199, -1.5272372961044312, -0.053215838968753815, 1.5234225988388062, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06656748056411743, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04139009863138199, -1.5302891731262207, -0.05359731614589691, 1.5241855382919312, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06656748056411743, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04139009863138199, -1.5302891731262207, -0.05359731614589691, 1.5268558263778687, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06656748056411743, -1.6783016920089722, -3.426579860388301e-05, 3.426579860388301e-05, 0.8993285894393921, -0.17223620414733887, 0.04139009863138199, -1.5306706428527832, -0.05359731614589691, 1.5268558263778687, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6783016920089722, -3.426579860388301e-05, 3.426579860388301e-05, 0.8993285894393921, -0.17223620414733887, 0.04139009863138199, -1.5306706428527832, -0.05359731614589691, 1.5264743566513062, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5310521125793457, -0.05359731614589691, 1.5268558263778687, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06656748056411743, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5314335823059082, -0.05397878959774971, 1.5268558263778687, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06656748056411743, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5314335823059082, -0.05436026677489281, 1.5268558263778687, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5318150520324707, -0.05436026677489281, 1.5268558263778687, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5325779914855957, -0.0551232174038887, 1.5272372961044312, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5337224006652832, -0.0558861680328846, 1.5280003547668457, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6783016920089722, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5337224006652832, -0.0558861680328846, 1.5299077033996582, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7856488823890686, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6786831617355347, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5333409309387207, -0.0558861680328846, 1.5299077033996582, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6786831617355347, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5333409309387207, -0.0555046908557415, 1.5299077033996582, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6786831617355347, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5333409309387207, -0.0551232174038887, 1.5299077033996582, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6790646314620972, -3.426579860388301e-05, 3.426579860388301e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5329594612121582, -0.0551232174038887, 1.5299077033996582, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6790646314620972, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5306706428527832, -0.0551232174038887, 1.5299077033996582, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.07953765243291855, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6790646314620972, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5306706428527832, -0.0551232174038887, 1.5295262336730957, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6790646314620972, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5306706428527832, -0.0551232174038887, 1.5299077033996582, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6790646314620972, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5306706428527832, -0.054741740226745605, 1.5295262336730957, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.07915617525577545, 0.010109102353453636, 1.517700433731079, 0.06694895774126053, -1.6790646314620972, -3.095445572398603e-05, 3.095445572398603e-05, 0.8993285894393921, -0.17223620414733887, 0.04100862145423889, -1.5310521125793457, -0.0551232174038887, 1.5295262336730957, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000041/meta.json b/rc-table30-v2__rc-dos-w1/000041/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3faaf67a9a87b178f85d4cb20a0eb25142032117
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000041/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Pair the two pairs of shoes on the desk and place them on the shoe rack",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 3501,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000041/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000041/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a2ca9ea47f0ba389d771a5bed671192cde4c2cab
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000041/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000041/temporal.json b/rc-table30-v2__rc-dos-w1/000041/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..feaddda4e9bd84918aad194973282258bd63a4cc
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000041/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8512626886367798, -0.024605173617601395, -0.02689402550458908, 1.592088222503662, 0.1825360506772995, -1.6046768426895142, -0.0, 0.0, 0.8974212408065796, -0.17452506721019745, 0.04291599988937378, -1.6344319581985474, -0.09403372555971146, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.024605173617601395, -0.02689402550458908, 1.592088222503662, 0.1825360506772995, -1.6050583124160767, -0.0, 0.0, 0.8974212408065796, -0.17452506721019745, 0.04291599988937378, -1.6344319581985474, -0.09403372555971146, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.024605173617601395, -0.02689402550458908, 1.592088222503662, 0.1825360506772995, -1.6054397821426392, -0.0, 0.0, 0.8970397710800171, -0.17452506721019745, 0.04291599988937378, -1.6344319581985474, -0.09403372555971146, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.024605173617601395, -0.02689402550458908, 1.592088222503662, 0.1825360506772995, -1.6054397821426392, -0.0, 0.0, 0.8974212408065796, -0.17452506721019745, 0.04291599988937378, -1.6344319581985474, -0.09403372555971146, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.024605173617601395, -0.02689402550458908, 1.592088222503662, 0.1825360506772995, -1.6054397821426392, -0.0, 0.0, 0.8974212408065796, -0.17452506721019745, 0.04291599988937378, -1.6344319581985474, -0.09403372555971146, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.024605173617601395, -0.02689402550458908, 1.5917067527770996, 0.1825360506772995, -1.6058213710784912, -0.0, 0.0, 0.8974212408065796, -0.17452506721019745, 0.04329747334122658, -1.6348134279251099, -0.09403372555971146, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.024605173617601395, -0.02689402550458908, 1.5917067527770996, 0.1825360506772995, -1.6058213710784912, -0.0, 0.0, 0.8943694233894348, -0.17452506721019745, 0.04749370738863945, -1.6329060792922974, -0.08945601433515549, 1.660753846168518, -0.0006025503971613944, 0.0006025503971613944], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, -0.024605173617601395, -0.02689402550458908, 1.591325283050537, 0.1825360506772995, -1.6058213710784912, -0.0, 0.0, 0.8531700372695923, -0.16918440163135529, 0.09136339277029037, -1.5917067527770996, -0.019645990803837776, 1.6695277690887451, -0.004199640825390816, 0.004199640825390816], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8508812189102173, -0.024605173617601395, -0.02689402550458908, 1.590562343597412, 0.1825360506772995, -1.6062028408050537, -0.0, 0.0, 0.7696269154548645, -0.16422522068023682, 0.20428015291690826, -1.5558480024337769, 0.14782176911830902, 1.6744868755340576, -0.02592986449599266, 0.02592986449599266], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8497368097305298, -0.024605173617601395, -0.02689402550458908, 1.5890363454818726, 0.1825360506772995, -1.6065843105316162, -0.0, 0.0, 0.6509880423545837, -0.19092851877212524, 0.35229265689849854, -1.5287632942199707, 0.3912031650543213, 1.6844053268432617, -0.029505355283617973, 0.029505355283617973], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.024605173617601395, -0.02689402550458908, 1.5890363454818726, 0.1825360506772995, -1.6069657802581787, -0.0, 0.0, 0.4957274794578552, -0.2454795092344284, 0.5056458115577698, -1.508926510810852, 0.6475547552108765, 1.7065308094024658, -0.031625423580408096, 0.031625423580408096], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.024605173617601395, -0.02689402550458908, 1.589417815208435, 0.1825360506772995, -1.6081101894378662, -0.0, 0.0, 0.3393225073814392, -0.308041512966156, 0.619325578212738, -1.4982452392578125, 0.8318074345588684, 1.7622263431549072, -0.031625423580408096, 0.031625423580408096], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.024605173617601395, -0.02689402550458908, 1.589417815208435, 0.1825360506772995, -1.6092545986175537, -0.0, 0.0, 0.20733195543289185, -0.38166627287864685, 0.6948577165603638, -1.4955748319625854, 0.9477760195732117, 1.8419547080993652, -0.031633950769901276, 0.031633950769901276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.024605173617601395, -0.02689402550458908, 1.589417815208435, 0.1825360506772995, -1.6092545986175537, -0.0, 0.0, 0.12531471252441406, -0.49153125286102295, 0.7497901916503906, -1.5230411291122437, 1.0442893505096436, 1.954871416091919, -0.03166802600026131, 0.03166802600026131], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.024605173617601395, -0.02689402550458908, 1.589417815208435, 0.1825360506772995, -1.6092545986175537, -0.0, 0.0, 0.10662241280078888, -0.6170367002487183, 0.7902265787124634, -1.5749218463897705, 1.125925064086914, 2.0719845294952393, -0.03166802600026131, 0.03166802600026131], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.024605173617601395, -0.02689402550458908, 1.5901808738708496, 0.1825360506772995, -1.6092545986175537, -0.0, 0.0, 0.13218127191066742, -0.7406347990036011, 0.8272297382354736, -1.6306172609329224, 1.188105583190918, 2.1761271953582764, -0.03168505057692528, 0.03168505057692528], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.024605173617601395, -0.02689402550458908, 1.5924696922302246, 0.1825360506772995, -1.6092545986175537, -0.0, 0.0, 0.1527809500694275, -0.8463035225868225, 0.8627069592475891, -1.6733424663543701, 1.2251087427139282, 2.2604334354400635, -0.031880009919404984, 0.031880009919404984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8485923409461975, -0.024605173617601395, -0.02689402550458908, 1.5924696922302246, 0.1825360506772995, -1.6092545986175537, -0.0, 0.0, 0.16422522068023682, -0.9306095838546753, 0.8962767720222473, -1.7114900350570679, 1.2426565885543823, 2.33062481880188, -0.03176151588559151, 0.03176151588559151], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.024605173617601395, -0.02689402550458908, 1.5924696922302246, 0.1825360506772995, -1.6092545986175537, -0.0, 0.0, 0.1684214472770691, -1.0046159029006958, 0.9275577664375305, -1.737048864364624, 1.2510490417480469, 2.381742477416992, -0.031582750380039215, 0.031582750380039215], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8485923409461975, -0.024605173617601395, -0.02689402550458908, 1.5924696922302246, 0.1825360506772995, -1.6092545986175537, -0.0, 0.0, 0.16994735598564148, -1.0698481798171997, 0.953498125076294, -1.7473487854003906, 1.2514305114746094, 2.4137864112854004, -0.031428564339876175, 0.031428564339876175], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.848210871219635, -0.024605173617601395, -0.02689402550458908, 1.592088222503662, 0.1825360506772995, -1.6092545986175537, -0.0, 0.0, 0.17109178006649017, -1.125925064086914, 0.9718089699745178, -1.735522985458374, 1.2289234399795532, 2.4351491928100586, -0.03123028203845024, 0.03123028203845024], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.848210871219635, -0.024605173617601395, -0.02689402550458908, 1.592088222503662, 0.1825360506772995, -1.6092545986175537, -0.0, 0.0, 0.17147326469421387, -1.1690318584442139, 0.9771496057510376, -1.7263675928115845, 1.2155718803405762, 2.4565117359161377, -0.02903771959245205, 0.02903771959245205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.848210871219635, -0.024605173617601395, -0.02689402550458908, 1.592088222503662, 0.1825360506772995, -1.6092545986175537, -0.0, 0.0, 0.17223620414733887, -1.19459068775177, 0.9649423956871033, -1.72102689743042, 1.2071794271469116, 2.484740972518921, -0.024941030889749527, 0.024941030889749527], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.848210871219635, -0.024605173617601395, -0.02689402550458908, 1.5917067527770996, 0.1825360506772995, -1.6096360683441162, -0.0, 0.0, 0.17223620414733887, -1.2083238363265991, 0.9477760195732117, -1.72102689743042, 1.1999313831329346, 2.5064849853515625, -0.020311910659074783, 0.020311910659074783], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.024605173617601395, -0.02689402550458908, 1.5917067527770996, 0.1825360506772995, -1.6100175380706787, -0.0, 0.0, 0.17605096101760864, -1.206416368484497, 0.9363317489624023, -1.7221713066101074, 1.19916832447052, 2.5202181339263916, -0.014418741688132286, 0.014418741688132286], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.024605173617601395, -0.02689402550458908, 1.5909438133239746, 0.1825360506772995, -1.6100175380706787, -0.0, 0.0, 0.20237277448177338, -1.1736094951629639, 0.9294651746749878, -1.7507820129394531, 1.1919203996658325, 2.553025007247925, -0.0024542761966586113, 0.0024542761966586113], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.02689402550458908, 1.5890363454818726, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 0.22793163359165192, -1.120965838432312, 0.9229800701141357, -1.7896925210952759, 1.2209124565124512, 2.601854085922241, -0.0019369397778064013, 0.0019369397778064013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5890363454818726, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 0.2588311731815338, -1.051918864250183, 0.916113555431366, -1.8308918476104736, 1.2277790307998657, 2.6308460235595703, -0.0019369397778064013, 0.0019369397778064013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5890363454818726, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 0.325970858335495, -0.9603646993637085, 0.9138246774673462, -1.8717098236083984, 1.2426565885543823, 2.6384756565093994, -0.001932503771968186, 0.001932503771968186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5890363454818726, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 0.4365987777709961, -0.8726252913475037, 0.9237430095672607, -1.9197757244110107, 1.2884336709976196, 2.639620065689087, -0.001932503771968186, 0.001932503771968186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.589417815208435, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 0.5849927663803101, -0.811589241027832, 0.9424353241920471, -1.948386311531067, 1.343747615814209, 2.637331247329712, -0.001932503771968186, 0.001932503771968186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.589417815208435, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 0.7753490209579468, -0.7818341255187988, 0.9630350470542908, -1.9640268087387085, 1.4200427532196045, 2.625123977661133, -0.001932503771968186, 0.001932503771968186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.02689402550458908, 1.589417815208435, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 0.9378576278686523, -0.7825970649719238, 0.9828717708587646, -1.954871416091919, 1.4776455163955688, 2.6159684658050537, -0.001932503771968186, 0.001932503771968186], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5897992849349976, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.0629816055297852, -0.812352180480957, 1.0034713745117188, -1.9121462106704712, 1.5085450410842896, 2.591935634613037, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5924696922302246, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.1457618474960327, -0.8546959757804871, 1.022926688194275, -1.8659876585006714, 1.5135042667388916, 2.562943458557129, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5924696922302246, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.19153892993927, -0.8989471197128296, 1.0351338386535645, -1.8354696035385132, 1.493667483329773, 2.5385289192199707, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5924696922302246, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.2155718803405762, -0.9481574892997742, 1.038948655128479, -1.795414686203003, 1.4505608081817627, 2.515259027481079, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5924696922302246, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.2247272729873657, -0.9985122680664062, 1.0423818826675415, -1.7652781009674072, 1.4021133184432983, 2.4874112606048584, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.592088222503662, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.2178606986999512, -1.0496299266815186, 1.043907880783081, -1.7416266202926636, 1.3464179039001465, 2.4549858570098877, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.592088222503662, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.2098497152328491, -1.0992218255996704, 1.0481040477752686, -1.720263957977295, 1.2994964122772217, 2.422560453414917, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.592088222503662, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.199549913406372, -1.1427099704742432, 1.053444743156433, -1.7069122791290283, 1.259822964668274, 2.388990640640259, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5917067527770996, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.185053825378418, -1.177042841911316, 1.0568779706954956, -1.7038605213165283, 1.2262531518936157, 2.3630502223968506, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.591325283050537, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.1724650859832764, -1.202601671218872, 1.0584038496017456, -1.6973754167556763, 1.19916832447052, 2.345883846282959, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.590562343597412, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.1640726327896118, -1.2232013940811157, 1.0610742568969727, -1.6893644332885742, 1.1728465557098389, 2.3256657123565674, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5890363454818726, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.1587319374084473, -1.2396048307418823, 1.0610742568969727, -1.6813534498214722, 1.1537728309631348, 2.3104066848754883, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.58865487575531, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 1.1549172401428223, -1.2510490417480469, 1.0591669082641602, -1.6748683452606201, 1.1434729099273682, 2.300488233566284, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5890363454818726, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 1.1533913612365723, -1.257534146308899, 1.0576409101486206, -1.6741054058074951, 1.1354619264602661, 2.2932403087615967, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5890363454818726, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.1533913612365723, -1.2609673738479614, 1.0538262128829956, -1.6706721782684326, 1.1289769411087036, 2.2878994941711426, -0.0019280703272670507, 0.0019280703272670507], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5890363454818726, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 1.1533913612365723, -1.261730432510376, 1.051155924797058, -1.6714351177215576, 1.125162124633789, 2.28294038772583, -0.007296135649085045, 0.007296135649085045], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5890363454818726, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 1.1533913612365723, -1.2556267976760864, 1.051155924797058, -1.6699092388153076, 1.118677020072937, 2.270733118057251, -0.013582350686192513, 0.013582350686192513], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.589417815208435, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 1.1575875282287598, -1.2323567867279053, 1.056496500968933, -1.6699092388153076, 1.1217288970947266, 2.2634851932525635, -0.017792584374547005, 0.017792584374547005], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.589417815208435, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 1.1697947978973389, -1.180094599723816, 1.0610742568969727, -1.6691462993621826, 1.1305028200149536, 2.2581446170806885, -0.025333844125270844, 0.025333844125270844], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5917067527770996, 0.1825360506772995, -1.6111619472503662, -0.0, 0.0, 1.182383418083191, -1.098840355873108, 1.0488669872283936, -1.665331482887268, 1.1423285007476807, 2.255474090576172, -0.027851173654198647, 0.027851173654198647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84744793176651, -0.024605173617601395, -0.026512550190091133, 1.5924696922302246, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 1.1717021465301514, -0.9889753460884094, 1.0091935396194458, -1.667620301246643, 1.1560616493225098, 2.2543296813964844, -0.03242285177111626, 0.03242285177111626], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8470664620399475, -0.024605173617601395, -0.026512550190091133, 1.5924696922302246, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 1.1217288970947266, -0.8752956390380859, 0.951209306716919, -1.6687648296356201, 1.1633096933364868, 2.2543296813964844, -0.03253815323114395, 0.03253815323114395], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.846684992313385, -0.024605173617601395, -0.026512550190091133, 1.5924696922302246, 0.1825360506772995, -1.6107804775238037, -0.0, 0.0, 1.038948655128479, -0.7814526557922363, 0.8932250142097473, -1.6748683452606201, 1.1675058603286743, 2.245555877685547, -0.03251349553465843, 0.03251349553465843], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8447775840759277, -0.024605173617601395, -0.02384222112596035, 1.5924696922302246, 0.17910276353359222, -1.6142138242721558, -0.0001110062439693138, 0.0001110062439693138, 0.9447242021560669, -0.7196536064147949, 0.8485923409461975, -1.6756312847137451, 1.1701762676239014, 2.214656352996826, -0.032132070511579514, 0.032132070511579514], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8337147831916809, -0.024605173617601395, 0.020027466118335724, 1.592088222503662, 0.1203555315732956, -1.6332875490188599, -0.004472494125366211, 0.004472494125366211, 0.8661402463912964, -0.691805899143219, 0.8222705721855164, -1.6748683452606201, 1.1686503887176514, 2.1639199256896973, -0.03173605352640152, 0.03173605352640152], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7925154566764832, -0.024223696440458298, 0.13179980218410492, 1.591325283050537, -0.03452353551983833, -1.641298532485962, -0.008866425603628159, 0.008866425603628159, 0.8154039978981018, -0.6887540817260742, 0.8073930144309998, -1.6828793287277222, 1.1659799814224243, 2.1154725551605225, -0.031744543462991714, 0.031744543462991714], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6803616285324097, -0.0394827201962471, 0.2801937758922577, 1.58865487575531, -0.272945761680603, -1.6718165874481201, -0.023149240761995316, 0.023149240761995316, 0.7894636392593384, -0.6994354128837585, 0.7951858043670654, -1.7080568075180054, 1.1636911630630493, 2.0857174396514893, -0.03173605352640152, 0.03173605352640152], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5132753252983093, -0.08983749151229858, 0.4217212200164795, 1.5882734060287476, -0.5048828721046448, -1.7023346424102783, -0.023039821535348892, 0.023039821535348892, 0.7742046117782593, -0.7116426229476929, 0.7825970649719238, -1.732471227645874, 1.1602579355239868, 2.066643714904785, -0.031744543462991714, 0.031744543462991714], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2973601818084717, -0.19245441257953644, 0.5582894682884216, 1.5779736042022705, -0.7467383742332458, -1.7160677909851074, -0.024881988763809204, 0.024881988763809204, 0.7665750980377197, -0.7200350761413574, 0.770008385181427, -1.7481117248535156, 1.1522468328475952, 2.05825138092041, -0.03185466304421425, 0.03185466304421425], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09517814964056015, -0.3236820101737976, 0.6620507836341858, 1.5432593822479248, -0.9390020370483398, -1.6779202222824097, -0.03225712850689888, 0.03225712850689888, 0.7639048099517822, -0.7257572412490845, 0.7581826448440552, -1.7561227083206177, 1.1488136053085327, 2.051384687423706, -0.032282061874866486, 0.032282061874866486], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04749370738863945, -0.4678797721862793, 0.7379644513130188, 1.505874752998352, -1.058022379875183, -1.6214618682861328, -0.03195589780807495, 0.03195589780807495, 0.760471522808075, -0.728427529335022, 0.7490272521972656, -1.7626078128814697, 1.1476691961288452, 2.0479514598846436, -0.03243935853242874, 0.03243935853242874], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12340734153985977, -0.6086442470550537, 0.7890821695327759, 1.501678466796875, -1.128213882446289, -1.5852216482162476, -0.030334575101733208, 0.030334575101733208, 0.7585641145706177, -0.7310978770256042, 0.7391088604927063, -1.7656595706939697, 1.1427099704742432, 2.045281171798706, -0.03259558603167534, 0.03259558603167534], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.16384375095367432, -0.7516975402832031, 0.8356221914291382, 1.4990081787109375, -1.1701762676239014, -1.5562294721603394, -0.030352385714650154, 0.030352385714650154, 0.7532234787940979, -0.7337682247161865, 0.7280460596084595, -1.7660410404205322, 1.1392767429351807, 2.044518232345581, -0.03291284292936325, 0.03291284292936325], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.18520638346672058, -0.8726252913475037, 0.8764400482177734, 1.5012969970703125, -1.189631462097168, -1.5405889749526978, -0.03034348227083683, 0.03034348227083683, 0.7471198439598083, -0.735675573348999, 0.7188906669616699, -1.7694742679595947, 1.1369879245758057, 2.0441367626190186, -0.03290476277470589, 0.03290476277470589], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.18940261006355286, -0.9752422571182251, 0.9073395729064941, 1.510452389717102, -1.2045090198516846, -1.5264743566513062, -0.03034348227083683, 0.03034348227083683, 0.7429236173629761, -0.7379644513130188, 0.7139315009117126, -1.7694742679595947, 1.1350804567337036, 2.043755292892456, -0.03291284292936325, 0.03291284292936325], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.18558785319328308, -1.0629816055297852, 0.9260318875312805, 1.511215329170227, -1.2136644124984741, -1.5207523107528687, -0.02944149449467659, 0.02944149449467659, 0.7394903302192688, -0.7387273907661438, 0.7108796834945679, -1.7694742679595947, 1.1335545778274536, 2.0418479442596436, -0.03291284292936325, 0.03291284292936325], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.18520638346672058, -1.1343175172805786, 0.9359502792358398, 1.5150301456451416, -1.2178606986999512, -1.515411615371704, -0.02379484660923481, 0.02379484660923481, 0.7372015118598938, -0.7391088604927063, 0.7089722752571106, -1.7698558568954468, 1.1335545778274536, 2.0418479442596436, -0.03291284292936325, 0.03291284292936325], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1840619444847107, -1.1774243116378784, 0.9424353241920471, 1.5287632942199707, -1.2209124565124512, -1.5150301456451416, -0.01805557683110237, 0.01805557683110237, 0.735675573348999, -0.7391088604927063, 0.7082093358039856, -1.7690927982330322, 1.1339360475540161, 2.0418479442596436, -0.03291284292936325, 0.03291284292936325], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1832990050315857, -1.1957350969314575, 0.9504463076591492, 1.5485999584197998, -1.2235828638076782, -1.515411615371704, -0.004864034708589315, 0.004864034708589315, 0.7352941036224365, -0.7391088604927063, 0.7074463963508606, -1.7641336917877197, 1.1381323337554932, 2.042229413986206, -0.03291284292936325, 0.03291284292936325], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.1813916265964508, -1.190394401550293, 0.961509108543396, 1.5642404556274414, -1.2304493188858032, -1.5207523107528687, -0.0020892363972961903, 0.0020892363972961903, 0.734912633895874, -0.7391088604927063, 0.7082093358039856, -1.7584115266799927, 1.1404211521148682, 2.042229413986206, -0.03291284292936325, 0.03291284292936325], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.17910276353359222, -1.1602579355239868, 0.9878309369087219, 1.5817883014678955, -1.260585904121399, -1.5230411291122437, -0.0020892363972961903, 0.0020892363972961903, 0.734912633895874, -0.7391088604927063, 0.7104982137680054, -1.7572671175003052, 1.1404211521148682, 2.042229413986206, -0.03291284292936325, 0.03291284292936325], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.16269932687282562, -1.104180932044983, 1.0255969762802124, 1.592851161956787, -1.3124666213989258, -1.515411615371704, -0.0020892363972961903, 0.0020892363972961903, 0.734912633895874, -0.7391088604927063, 0.7112611532211304, -1.7545968294143677, 1.1415655612945557, 2.042229413986206, -0.03291284292936325, 0.03291284292936325], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.12493324279785156, -1.019874930381775, 1.0568779706954956, 1.5939955711364746, -1.3689249753952026, -1.511215329170227, -0.0020892363972961903, 0.0020892363972961903, 0.734912633895874, -0.7394903302192688, 0.7116426229476929, -1.7545968294143677, 1.1438543796539307, 2.042229413986206, -0.03291284292936325, 0.03291284292936325], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0551232174038887, -0.9187838435173035, 1.0671778917312622, 1.594377040863037, -1.4158464670181274, -1.5306706428527832, -0.002084716223180294, 0.002084716223180294, 0.7337682247161865, -0.7402533292770386, 0.7124055624008179, -1.7561227083206177, 1.1427099704742432, 2.042229413986206, -0.03340744599699974, 0.03340744599699974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04901960864663124, -0.8272297382354736, 1.0576409101486206, 1.5947585105895996, -1.4642938375473022, -1.5901808738708496, -0.002084716223180294, 0.002084716223180294, 0.7322422862052917, -0.7421606779098511, 0.7139315009117126, -1.7580300569534302, 1.1400396823883057, 2.042229413986206, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1817730963230133, -0.7555122971534729, 1.0343708992004395, 1.595139980316162, -1.50091552734375, -1.6771572828292847, -0.002084716223180294, 0.002084716223180294, 0.7310978770256042, -0.7436865568161011, 0.7154573798179626, -1.7584115266799927, 1.1377508640289307, 2.0410850048065186, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33245593309402466, -0.7093538045883179, 1.0103379487991333, 1.5970473289489746, -1.5173189640045166, -1.7820630073547363, -0.002084716223180294, 0.002084716223180294, 0.7310978770256042, -0.7444495558738708, 0.7192721366882324, -1.7587929964065552, 1.1366063356399536, 2.033073902130127, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49267566204071045, -0.6868467330932617, 0.9954604506492615, 1.596665859222412, -1.5268558263778687, -1.8965057134628296, -0.002084716223180294, 0.002084716223180294, 0.7310978770256042, -0.7444495558738708, 0.7230868935585022, -1.7587929964065552, 1.1362248659133911, 2.0296406745910645, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6292439103126526, -0.6868467330932617, 0.9855420589447021, 1.596665859222412, -1.5287632942199707, -2.0040817260742188, -0.002084716223180294, 0.002084716223180294, 0.7310978770256042, -0.7448310256004333, 0.7257572412490845, -1.7584115266799927, 1.1366063356399536, 2.0258259773254395, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7501716613769531, -0.7101167440414429, 0.9733348488807678, 1.5955214500427246, -1.506637692451477, -2.1093690395355225, -0.002084716223180294, 0.002084716223180294, 0.7310978770256042, -0.7448310256004333, 0.726901650428772, -1.7568856477737427, 1.1369879245758057, 2.023155450820923, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.841725766658783, -0.7536049485206604, 0.9565499424934387, 1.5844587087631226, -1.4696345329284668, -2.1845197677612305, -0.002084716223180294, 0.002084716223180294, 0.7310978770256042, -0.7448310256004333, 0.726901650428772, -1.7538337707519531, 1.1373693943023682, 2.023155450820923, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9084840416908264, -0.8196002244949341, 0.9409094452857971, 1.5588998794555664, -1.4055466651916504, -2.2325856685638428, -0.002084716223180294, 0.002084716223180294, 0.7310978770256042, -0.7448310256004333, 0.726901650428772, -1.7504005432128906, 1.1377508640289307, 2.023155450820923, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9546425342559814, -0.8951323628425598, 0.9355688095092773, 1.5440223217010498, -1.3448920249938965, -2.2581446170806885, -0.002084716223180294, 0.002084716223180294, 0.7310978770256042, -0.7448310256004333, 0.726901650428772, -1.7500190734863281, 1.1392767429351807, 2.0227739810943604, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9813458323478699, -0.9649423956871033, 0.9355688095092773, 1.5360113382339478, -1.2914854288101196, -2.2734034061431885, -0.002084716223180294, 0.002084716223180294, 0.7310978770256042, -0.7448310256004333, 0.726901650428772, -1.7492561340332031, 1.1400396823883057, 2.0227739810943604, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9935530424118042, -1.019874930381775, 0.9359502792358398, 1.5295262336730957, -1.2529563903808594, -2.2871365547180176, -0.002084716223180294, 0.002084716223180294, 0.7310978770256042, -0.7448310256004333, 0.726138710975647, -1.7469673156738281, 1.1404211521148682, 2.0227739810943604, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9946975111961365, -1.0610742568969727, 0.9370946884155273, 1.5230411291122437, -1.2235828638076782, -2.304302930831909, -0.0020801983773708344, 0.0020801983773708344, 0.7310978770256042, -0.7448310256004333, 0.724612832069397, -1.7469673156738281, 1.1408026218414307, 2.0227739810943604, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9920271635055542, -1.0896848440170288, 0.9367132186889648, 1.5226596593856812, -1.1972609758377075, -2.3340580463409424, -0.0020801983773708344, 0.0020801983773708344, 0.7310978770256042, -0.7448310256004333, 0.7223239541053772, -1.7465858459472656, 1.1411840915679932, 2.0227739810943604, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9893568158149719, -1.107614278793335, 0.9359502792358398, 1.5215152502059937, -1.1766613721847534, -2.361905813217163, -0.0020801983773708344, 0.0020801983773708344, 0.7310978770256042, -0.7448310256004333, 0.7215610146522522, -1.7454413175582886, 1.1419470310211182, 2.017051935195923, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9863049983978271, -1.117151141166687, 0.9348058104515076, 1.5142672061920166, -1.1640726327896118, -2.3847944736480713, -0.0020801983773708344, 0.0020801983773708344, 0.7310978770256042, -0.7452124953269958, 0.7257572412490845, -1.731708288192749, 1.1430914402008057, 1.9865338802337646, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9813458323478699, -1.122110366821289, 0.9359502792358398, 1.498626708984375, -1.1587319374084473, -2.3962385654449463, -0.005703818053007126, 0.005703818053007126, 0.7310978770256042, -0.7455939650535583, 0.7352941036224365, -1.7153048515319824, 1.1430914402008057, 1.9380865097045898, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9782940149307251, -1.1247806549072266, 0.9424353241920471, 1.483367681503296, -1.1537728309631348, -2.4046311378479004, -0.010571448132395744, 0.010571448132395744, 0.7310978770256042, -0.7455939650535583, 0.7501716613769531, -1.6893644332885742, 1.1446174383163452, 1.8556878566741943, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9729533791542053, -1.1240177154541016, 0.9573128819465637, 1.4765011072158813, -1.1518653631210327, -2.4076828956604004, -0.012763520702719688, 0.012763520702719688, 0.7310978770256042, -0.7467383742332458, 0.7753490209579468, -1.6695277690887451, 1.1572060585021973, 1.7744334936141968, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.969520092010498, -1.10990309715271, 0.9756237268447876, 1.4612420797348022, -1.1518653631210327, -2.3947126865386963, -0.018996529281139374, 0.018996529281139374, 0.7310978770256042, -0.7536049485206604, 0.8165484070777893, -1.6424429416656494, 1.182383418083191, 1.6886014938354492, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9660868048667908, -1.0744259357452393, 0.9893568158149719, 1.433012843132019, -1.1511024236679077, -2.3554208278656006, -0.023149240761995316, 0.023149240761995316, 0.7310978770256042, -0.769245445728302, 0.8703364729881287, -1.574540376663208, 1.2331197261810303, 1.5691996812820435, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9473945498466492, -1.0111008882522583, 0.9924086332321167, 1.420424222946167, -1.1514838933944702, -2.3081178665161133, -0.025147438049316406, 0.025147438049316406, 0.7413977384567261, -0.7990005612373352, 0.9260318875312805, -1.4696345329284668, 1.2991149425506592, 1.4230945110321045, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9054322242736816, -0.9206912517547607, 0.9866865277290344, 1.4105058908462524, -1.1514838933944702, -2.243267059326172, -0.02674359828233719, 0.02674359828233719, 0.7875562906265259, -0.84897381067276, 0.9836347103118896, -1.3857098817825317, 1.3544288873672485, 1.3056000471115112, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8344777822494507, -0.8104447722434998, 0.968757152557373, 1.408216953277588, -1.1514838933944702, -2.1562905311584473, -0.02674359828233719, 0.02674359828233719, 0.8558403849601746, -0.9206912517547607, 1.037422776222229, -1.355954885482788, 1.3941023349761963, 1.2239643335342407, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7394903302192688, -0.7013428211212158, 0.9416723847389221, 1.4032578468322754, -1.1518653631210327, -2.0723659992218018, -0.026724329218268394, 0.026724329218268394, 0.9210727214813232, -0.997367799282074, 1.0763332843780518, -1.353284478187561, 1.4166094064712524, 1.1598763465881348, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6353475451469421, -0.6116960644721985, 0.9157320261001587, 1.4040207862854004, -1.1518653631210327, -2.0120928287506104, -0.02289055660367012, 0.02289055660367012, 0.9733348488807678, -1.0587854385375977, 1.0946440696716309, -1.3761730194091797, 1.430724024772644, 1.0969328880310059, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5491340756416321, -0.5487525463104248, 0.8985656499862671, 1.4002059698104858, -1.1522468328475952, -1.97356379032135, -0.022641653195023537, 0.022641653195023537, 1.0122454166412354, -1.101129174232483, 1.0973143577575684, -1.4105058908462524, 1.4333943128585815, 1.055733561515808, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4827573001384735, -0.5136567950248718, 0.8901731967926025, 1.4009689092636108, -1.1518653631210327, -1.9457160234451294, -0.022651612758636475, 0.022651612758636475, 1.0378042459487915, -1.1316472291946411, 1.0893033742904663, -1.4333943128585815, 1.4311054944992065, 1.031700611114502, -0.0338050052523613, 0.0338050052523613], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4495689272880554, -0.4957274794578552, 0.8844510316848755, 1.3994430303573608, -1.1514838933944702, -1.9327458143234253, -0.022651612758636475, 0.022651612758636475, 1.057259440422058, -1.1526284217834473, 1.0770962238311768, -1.4482718706130981, 1.4127947092056274, 1.0179674625396729, -0.03355655074119568, 0.03355655074119568], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43163958191871643, -0.4873350262641907, 0.8791103959083557, 1.3982986211776733, -1.1518653631210327, -1.9232089519500732, -0.022641653195023537, 0.022641653195023537, 1.0702296495437622, -1.1678873300552368, 1.0694667100906372, -1.4566643238067627, 1.3914320468902588, 1.0103379487991333, -0.02929513156414032, 0.02929513156414032], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4217212200164795, -0.4819943606853485, 0.8749141693115234, 1.3975356817245483, -1.1514838933944702, -1.9190127849578857, -0.022641653195023537, 0.022641653195023537, 1.0744259357452393, -1.177805781364441, 1.0626001358032227, -1.4646753072738647, 1.3723583221435547, 1.0049973726272583, -0.027213936671614647, 0.027213936671614647], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41676202416419983, -0.4800869822502136, 0.8718623518943787, 1.3975356817245483, -1.1514838933944702, -1.9159609079360962, -0.022641653195023537, 0.022641653195023537, 1.0782406330108643, -1.1827648878097534, 1.0530632734298706, -1.481078863143921, 1.3536659479141235, 1.0011825561523438, -0.0228109210729599, 0.0228109210729599], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41294726729393005, -0.47894254326820374, 0.8691920638084412, 1.3975356817245483, -1.1507209539413452, -1.9155794382095337, -0.022641653195023537, 0.022641653195023537, 1.0824369192123413, -1.1854352951049805, 1.044670820236206, -1.484130620956421, 1.343747615814209, 0.9981307983398438, -0.022522132843732834, 0.022522132843732834], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41256579756736755, -0.47817960381507874, 0.8657587766647339, 1.3975356817245483, -1.1507209539413452, -1.9140535593032837, -0.022641653195023537, 0.022641653195023537, 1.0843442678451538, -1.186579704284668, 1.040474534034729, -1.489089846611023, 1.336499571800232, 0.994316041469574, -0.02193424664437771, 0.02193424664437771], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41218432784080505, -0.47817960381507874, 0.8630884289741516, 1.3971542119979858, -1.1511024236679077, -1.9121462106704712, -0.022651612758636475, 0.022651612758636475, 1.0881589651107788, -1.187342643737793, 1.0393301248550415, -1.4955748319625854, 1.3338292837142944, 0.994316041469574, -0.019628096371889114, 0.019628096371889114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41180285811424255, -0.47817960381507874, 0.8615625500679016, 1.3975356817245483, -1.1507209539413452, -1.9121462106704712, -0.022641653195023537, 0.022641653195023537, 1.0904479026794434, -1.187342643737793, 1.038185715675354, -1.4967193603515625, 1.3269627094268799, 0.9935530424118042, -0.01778285950422287, 0.01778285950422287], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41103988885879517, -0.47817960381507874, 0.8607995510101318, 1.3971542119979858, -1.1507209539413452, -1.9121462106704712, -0.022651612758636475, 0.022651612758636475, 1.0923552513122559, -1.187342643737793, 1.035896897315979, -1.4967193603515625, 1.3223849534988403, 0.9920271635055542, -0.01528996229171753, 0.01528996229171753], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41103988885879517, -0.47817960381507874, 0.8585107326507568, 1.3971542119979858, -1.1507209539413452, -1.9121462106704712, -0.022651612758636475, 0.022651612758636475, 1.0950255393981934, -1.187342643737793, 1.0328450202941895, -1.4925230741500854, 1.3204776048660278, 0.9916456937789917, -0.007685502525418997, 0.007685502525418997], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41103988885879517, -0.47817960381507874, 0.8566033244132996, 1.3971542119979858, -1.1507209539413452, -1.9121462106704712, -0.022651612758636475, 0.022651612758636475, 1.0984588861465454, -1.187342643737793, 1.0320820808410645, -1.4940489530563354, 1.3090333938598633, 0.9908827543258667, -0.0015770811587572098, 0.0015770811587572098], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41103988885879517, -0.47817960381507874, 0.8558403849601746, 1.3971542119979858, -1.1507209539413452, -1.9121462106704712, -0.022651612758636475, 0.022651612758636475, 1.10837721824646, -1.1846723556518555, 1.0378042459487915, -1.5207523107528687, 1.3075073957443237, 0.9912642240524292, -0.0016280737472698092, 0.0016280737472698092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41103988885879517, -0.47817960381507874, 0.8558403849601746, 1.3971542119979858, -1.1507209539413452, -1.9121462106704712, -0.022651612758636475, 0.022651612758636475, 1.1285953521728516, -1.1751353740692139, 1.0515373945236206, -1.5699626207351685, 1.3097963333129883, 0.9912642240524292, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41103988885879517, -0.47817960381507874, 0.8554589152336121, 1.3967727422714233, -1.1507209539413452, -1.9121462106704712, -0.022651612758636475, 0.022651612758636475, 1.1545357704162598, -1.1633096933364868, 1.0698481798171997, -1.6336690187454224, 1.3181887865066528, 0.9912642240524292, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41103988885879517, -0.47817960381507874, 0.8546959757804871, 1.3963912725448608, -1.1507209539413452, -1.9121462106704712, -0.022651612758636475, 0.022651612758636475, 1.1797131299972534, -1.1499580144882202, 1.0862516164779663, -1.7000458240509033, 1.3235293626785278, 0.9912642240524292, -0.0016280737472698092, 0.0016280737472698092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41103988885879517, -0.47817960381507874, 0.8539330363273621, 1.3937208652496338, -1.1507209539413452, -1.9121462106704712, -0.022651612758636475, 0.022651612758636475, 1.19916832447052, -1.1392767429351807, 1.0984588861465454, -1.7538337707519531, 1.3250553607940674, 0.9840161800384521, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41142138838768005, -0.47817960381507874, 0.8539330363273621, 1.3937208652496338, -1.1507209539413452, -1.9125276803970337, -0.022651612758636475, 0.022651612758636475, 1.2129014730453491, -1.1327916383743286, 1.107614278793335, -1.7870222330093384, 1.3281071186065674, 0.9714275002479553, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41218432784080505, -0.47817960381507874, 0.8539330363273621, 1.3937208652496338, -1.1507209539413452, -1.9121462106704712, -0.022651612758636475, 0.022651612758636475, 1.2193865776062012, -1.1308842897415161, 1.1095216274261475, -1.806477427482605, 1.3273441791534424, 0.9523537158966064, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41294726729393005, -0.47817960381507874, 0.8539330363273621, 1.3937208652496338, -1.1507209539413452, -1.9125276803970337, -0.022651612758636475, 0.022651612758636475, 1.2155718803405762, -1.1285953521728516, 1.1072328090667725, -1.8228808641433716, 1.3086519241333008, 0.9302281141281128, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41371023654937744, -0.47817960381507874, 0.8539330363273621, 1.3933393955230713, -1.1507209539413452, -1.9125276803970337, -0.022651612758636475, 0.022651612758636475, 1.19916832447052, -1.1289769411087036, 1.099603295326233, -1.8385213613510132, 1.2811856269836426, 0.9019989371299744, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4171435236930847, -0.47817960381507874, 0.8535515666007996, 1.3933393955230713, -1.1507209539413452, -1.9125276803970337, -0.022651612758636475, 0.022651612758636475, 1.1724650859832764, -1.1327916383743286, 1.0877774953842163, -1.8518730401992798, 1.2354085445404053, 0.8695735335350037, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4190509021282196, -0.47817960381507874, 0.8531700372695923, 1.3918135166168213, -1.1507209539413452, -1.9125276803970337, -0.022651612758636475, 0.022651612758636475, 1.1396582126617432, -1.1465247869491577, 1.0839627981185913, -1.8629357814788818, 1.186579704284668, 0.8363851308822632, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4194323718547821, -0.47817960381507874, 0.8527885675430298, 1.3899061679840088, -1.1507209539413452, -1.9125276803970337, -0.022661570459604263, 0.022661570459604263, 1.1064698696136475, -1.1724650859832764, 1.0927367210388184, -1.8701838254928589, 1.1499580144882202, 0.8070115447044373, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4201953113079071, -0.47817960381507874, 0.8508812189102173, 1.3853284120559692, -1.1507209539413452, -1.9125276803970337, -0.022661570459604263, 0.022661570459604263, 1.0755703449249268, -1.202601671218872, 1.10685133934021, -1.872091293334961, 1.1182955503463745, 0.7825970649719238, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.421339750289917, -0.47817960381507874, 0.8497368097305298, 1.3818951845169067, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 1.045433759689331, -1.2319753170013428, 1.122110366821289, -1.8739986419677734, 1.0877774953842163, 0.7616159319877625, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.422102689743042, -0.47817960381507874, 0.848210871219635, 1.3757915496826172, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 1.0160601139068604, -1.2602044343948364, 1.1388952732086182, -1.8755245208740234, 1.0637445449829102, 0.7433050870895386, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.422102689743042, -0.47817960381507874, 0.846684992313385, 1.3708323240280151, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.9885938763618469, -1.2853819131851196, 1.1514838933944702, -1.8778133392333984, 1.0393301248550415, 0.7257572412490845, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.422102689743042, -0.47817960381507874, 0.8463035225868225, 1.3670176267623901, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.9611276388168335, -1.3078888654708862, 1.1629282236099243, -1.877431869506836, 1.0175859928131104, 0.7066834568977356, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.422102689743042, -0.47817960381507874, 0.8455405235290527, 1.3635843992233276, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.9340428709983826, -1.3284885883331299, 1.1766613721847534, -1.877431869506836, 1.0000381469726562, 0.6937133073806763, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4224841594696045, -0.47817960381507874, 0.8447775840759277, 1.360532522201538, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.9100099205970764, -1.3471808433532715, 1.1900129318237305, -1.877431869506836, 0.9821087718009949, 0.6811245679855347, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4232471287250519, -0.47817960381507874, 0.8443961143493652, 1.359769582748413, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.889028787612915, -1.3632028102874756, 1.2022202014923096, -1.877431869506836, 0.9664682745933533, 0.6692988276481628, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4243915379047394, -0.47817960381507874, 0.8436331748962402, 1.3586251735687256, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.8710994124412537, -1.3765544891357422, 1.2132829427719116, -1.8770503997802734, 0.9504463076591492, 0.6612878441810608, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42515450716018677, -0.47817960381507874, 0.8436331748962402, 1.3551918268203735, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.8546959757804871, -1.3868544101715088, 1.2205309867858887, -1.8778133392333984, 0.9313725233078003, 0.6540398001670837, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42515450716018677, -0.47817960381507874, 0.8432517051696777, 1.353284478187561, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.8390554785728455, -1.3956283330917358, 1.2251087427139282, -1.8785762786865234, 0.9153505563735962, 0.6464102864265442, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42515450716018677, -0.47817960381507874, 0.8428702354431152, 1.352521538734436, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.8268482685089111, -1.4013503789901733, 1.2273975610733032, -1.880102276802063, 0.9042877554893494, 0.6387808322906494, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42515450716018677, -0.47817960381507874, 0.8421072959899902, 1.3521400690078735, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.8169298768043518, -1.4055466651916504, 1.2277790307998657, -1.882391095161438, 0.8939879536628723, 0.6349660754203796, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42515450716018677, -0.47817960381507874, 0.841725766658783, 1.351758599281311, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.8100633025169373, -1.407454013824463, 1.2262531518936157, -1.8858243227005005, 0.8886472582817078, 0.6319142580032349, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42515450716018677, -0.47817960381507874, 0.8413442969322205, 1.3490883111953735, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.8039597272872925, -1.4078354835510254, 1.2232013940811157, -1.889639139175415, 0.8813992738723755, 0.6311513185501099, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42515450716018677, -0.47817960381507874, 0.8413442969322205, 1.3490883111953735, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.7997635006904602, -1.4085984230041504, 1.2190051078796387, -1.8907835483551025, 0.8699550032615662, 0.6307697892189026, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42629891633987427, -0.47817960381507874, 0.8413442969322205, 1.348706841468811, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.7963302135467529, -1.4085984230041504, 1.2148088216781616, -1.8930723667144775, 0.8588922023773193, 0.6288624405860901, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42782482504844666, -0.47817960381507874, 0.8413442969322205, 1.3483253717422485, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.7925154566764832, -1.4085984230041504, 1.2106126546859741, -1.8930723667144775, 0.8539330363273621, 0.6284809708595276, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.42973220348358154, -0.47817960381507874, 0.8413442969322205, 1.345273494720459, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.7894636392593384, -1.4085984230041504, 1.2079423666000366, -1.89345383644104, 0.8497368097305298, 0.6269550919532776, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.43163958191871643, -0.47817960381507874, 0.8405813574790955, 1.345273494720459, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.7887006998062134, -1.4085984230041504, 1.205653429031372, -1.89345383644104, 0.8493552803993225, 0.6280995011329651, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4327840209007263, -0.47817960381507874, 0.8398184180259705, 1.3448920249938965, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.7875562906265259, -1.408216953277588, 1.204127550125122, -1.89345383644104, 0.8493552803993225, 0.6376363635063171, -0.001623811200261116, 0.001623811200261116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4335469603538513, -0.47817960381507874, 0.8390554785728455, 1.344510555267334, -1.1507209539413452, -1.9125276803970337, -0.022671528160572052, 0.022671528160572052, 0.7875562906265259, -1.4070725440979004, 1.2014572620391846, -1.89345383644104, 0.84897381067276, 0.647936224937439, -0.002030666684731841, 0.002030666684731841], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4358358085155487, -0.47817960381507874, 0.838674008846283, 1.3433661460876465, -1.1507209539413452, -1.9125276803970337, -0.02269144542515278, 0.02269144542515278, 0.7875562906265259, -1.4032578468322754, 1.1999313831329346, -1.897650122642517, 0.8443961143493652, 0.6513695120811462, -0.0066707259975373745, 0.0066707259975373745], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4362172782421112, -0.47817960381507874, 0.838674008846283, 1.340695858001709, -1.1511024236679077, -1.9129091501235962, -0.023278502747416496, 0.023278502747416496, 0.7867932915687561, -1.4002059698104858, 1.1964980363845825, -1.8972686529159546, 0.846684992313385, 0.6548027992248535, -0.007032117806375027, 0.007032117806375027], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4365987777709961, -0.47817960381507874, 0.8382925391197205, 1.338025450706482, -1.1503394842147827, -1.9129091501235962, -0.023278502747416496, 0.023278502747416496, 0.7871748208999634, -1.3937208652496338, 1.19306480884552, -1.896887183189392, 0.84744793176651, 0.6582360863685608, -0.007908721454441547, 0.007908721454441547], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4369802474975586, -0.47817960381507874, 0.8375295400619507, 1.337262511253357, -1.1507209539413452, -1.9129091501235962, -0.023278502747416496, 0.023278502747416496, 0.7890821695327759, -1.3818951845169067, 1.185816764831543, -1.896887183189392, 0.8485923409461975, 0.6624323129653931, -0.010351576842367649, 0.010351576842367649], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.440032035112381, -0.47817960381507874, 0.8371480703353882, 1.3368810415267944, -1.1503394842147827, -1.9129091501235962, -0.023278502747416496, 0.023278502747416496, 0.7959487438201904, -1.3609139919281006, 1.1743724346160889, -1.895361304283142, 0.8501182794570923, 0.6673914790153503, -0.013215187937021255, 0.013215187937021255], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44422826170921326, -0.47817960381507874, 0.8360036611557007, 1.3338292837142944, -1.1507209539413452, -1.9129091501235962, -0.023278502747416496, 0.023278502747416496, 0.8093003630638123, -1.3231478929519653, 1.1587319374084473, -1.895361304283142, 0.8504997491836548, 0.6853207945823669, -0.015103267505764961, 0.015103267505764961], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4510948359966278, -0.4804684519767761, 0.8344777822494507, 1.334210753440857, -1.1507209539413452, -1.9029908180236816, -0.024102022871375084, 0.024102022871375084, 0.8310444951057434, -1.2724117040634155, 1.1381323337554932, -1.9090943336486816, 0.8497368097305298, 0.732623815536499, -0.016357198357582092, 0.016357198357582092], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4690241813659668, -0.4880979657173157, 0.8340963125228882, 1.3338292837142944, -1.1507209539413452, -1.8595025539398193, -0.02620207518339157, 0.02620207518339157, 0.8566033244132996, -1.19764244556427, 1.1007477045059204, -1.9274052381515503, 0.8497368097305298, 0.8165484070777893, -0.017666244879364967, 0.017666244879364967], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5025940537452698, -0.506790280342102, 0.8329518437385559, 1.334210753440857, -1.1503394842147827, -1.7927442789077759, -0.02677249163389206, 0.02677249163389206, 0.8707179427146912, -1.110666036605835, 1.048485517501831, -1.9361791610717773, 0.8501182794570923, 0.9355688095092773, -0.018348686397075653, 0.018348686397075653], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5548561811447144, -0.5373083353042603, 0.8314259648323059, 1.3338292837142944, -1.1507209539413452, -1.718738079071045, -0.026782119646668434, 0.026782119646668434, 0.8749141693115234, -1.0034713745117188, 0.9782940149307251, -1.9449530839920044, 0.8737697601318359, 1.102655053138733, -0.022382661700248718, 0.022382661700248718], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6242847442626953, -0.5731670260429382, 0.8299000263214111, 1.334210753440857, -1.1507209539413452, -1.6348134279251099, -0.027185240760445595, 0.027185240760445595, 0.8661402463912964, -0.9019989371299744, 0.9077210426330566, -1.9472419023513794, 0.9107728600502014, 1.268596887588501, -0.023765090852975845, 0.023765090852975845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7024872303009033, -0.6219958662986755, 0.8367666006088257, 1.3338292837142944, -1.1766613721847534, -1.516174554824829, -0.031178325414657593, 0.031178325414657593, 0.8405813574790955, -0.8005264401435852, 0.8314259648323059, -1.9499123096466064, 0.959220290184021, 1.431486964225769, -0.0237750094383955, 0.0237750094383955], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7791637778282166, -0.6853207945823669, 0.8527885675430298, 1.334210753440857, -1.2407492399215698, -1.3910505771636963, -0.03184621036052704, 0.03184621036052704, 0.8180742859840393, -0.7249943017959595, 0.7703898549079895, -1.9361791610717773, 0.9969863295555115, 1.5318150520324707, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -0.7516975402832031, 0.8745326995849609, 1.334210753440857, -1.2869077920913696, -1.2941558361053467, -0.03183775395154953, 0.03183775395154953, 0.8001449704170227, -0.6849393248558044, 0.7303349375724792, -1.9159609079360962, 1.029411792755127, 1.5875104665756226, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8939879536628723, -0.8176928162574768, 0.8962767720222473, 1.354810357093811, -1.3162813186645508, -1.2182421684265137, -0.03182929381728172, 0.03182929381728172, 0.7902265787124634, -0.6719691753387451, 0.7089722752571106, -1.9037537574768066, 1.053444743156433, 1.6226062774658203, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9336614012718201, -0.8726252913475037, 0.9103913903236389, 1.3761730194091797, -1.3330663442611694, -1.1629282236099243, -0.03182082995772362, 0.03182082995772362, 0.7867932915687561, -0.6715877056121826, 0.699816882610321, -1.89345383644104, 1.0671778917312622, 1.6424429416656494, -0.02445800229907036, 0.02445800229907036], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9603646993637085, -0.9107728600502014, 0.9153505563735962, 1.3914320468902588, -1.342984676361084, -1.118677020072937, -0.03181236609816551, 0.03181236609816551, 0.7845044732093811, -0.6742580533027649, 0.6956206560134888, -1.8900206089019775, 1.0725184679031372, 1.6504539251327515, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9733348488807678, -0.9397650361061096, 0.9149690866470337, 1.3982986211776733, -1.348706841468811, -1.0839627981185913, -0.031795427203178406, 0.031795427203178406, 0.7829785346984863, -0.6780728101730347, 0.6921873688697815, -1.88887619972229, 1.0751888751983643, 1.657320499420166, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9760051965713501, -0.9660868048667908, 0.9092469811439514, 1.4047837257385254, -1.3544288873672485, -1.0610742568969727, -0.029019271954894066, 0.029019271954894066, 0.7822155952453613, -0.6822690367698669, 0.689517080783844, -1.8858243227005005, 1.0809109210968018, 1.6611353158950806, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9775310754776001, -0.9916456937789917, 0.9046692848205566, 1.4063096046447754, -1.3551918268203735, -1.0458152294158936, -0.027803868055343628, 0.027803868055343628, 0.7822155952453613, -0.6864652633666992, 0.6887540817260742, -1.8850613832473755, 1.0820554494857788, 1.661516785621643, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9782940149307251, -1.0164415836334229, 0.9023804068565369, 1.406691074371338, -1.3563363552093506, -1.037422776222229, -0.027803868055343628, 0.027803868055343628, 0.7822155952453613, -0.689517080783844, 0.6891355514526367, -1.884679913520813, 1.0828183889389038, 1.6618982553482056, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9790570139884949, -1.0385671854019165, 0.9008545279502869, 1.4101243019104004, -1.3563363552093506, -1.0328450202941895, -0.027500146999955177, 0.027500146999955177, 0.7822155952453613, -0.6914244294166565, 0.6891355514526367, -1.881628155708313, 1.0835813283920288, 1.663042664527893, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9863049983978271, -1.0515373945236206, 0.9008545279502869, 1.409742832183838, -1.3555734157562256, -1.0290303230285645, -0.026676133275032043, 0.026676133275032043, 0.7822155952453613, -0.6929503083229065, 0.6876096725463867, -1.881628155708313, 1.0858701467514038, 1.6649500131607056, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9916456937789917, -1.058022379875183, 0.9008545279502869, 1.4093613624572754, -1.351758599281311, -1.0290303230285645, -0.026114679872989655, 0.026114679872989655, 0.7822155952453613, -0.6937133073806763, 0.6868467330932617, -1.8812466859817505, 1.0858701467514038, 1.6649500131607056, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9924086332321167, -1.0622186660766602, 0.9023804068565369, 1.409742832183838, -1.339551329612732, -1.028648853302002, -0.02298012375831604, 0.02298012375831604, 0.7822155952453613, -0.6937133073806763, 0.6864652633666992, -1.878194808959961, 1.0858701467514038, 1.6649500131607056, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9916456937789917, -1.0637445449829102, 0.9046692848205566, 1.409742832183838, -1.3323034048080444, -1.0282673835754395, -0.022392624989151955, 0.022392624989151955, 0.7825970649719238, -0.6944762468338013, 0.6872282028198242, -1.8770503997802734, 1.0862516164779663, 1.6649500131607056, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9901197552680969, -1.0648889541625977, 0.9054322242736816, 1.409742832183838, -1.3281071186065674, -1.0263599157333374, -0.019351420924067497, 0.019351420924067497, 0.7825970649719238, -0.6956206560134888, 0.6872282028198242, -1.8739986419677734, 1.0862516164779663, 1.6649500131607056, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9905012845993042, -1.0652704238891602, 0.9058136940002441, 1.4120317697525024, -1.3269627094268799, -1.0263599157333374, -0.017850957810878754, 0.017850957810878754, 0.7829785346984863, -0.6979095339775085, 0.6872282028198242, -1.8739986419677734, 1.0866330862045288, 1.6649500131607056, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9901197552680969, -1.0652704238891602, 0.9058136940002441, 1.4150835275650024, -1.3246738910675049, -1.0263599157333374, -0.01408945582807064, 0.01408945582807064, 0.7825970649719238, -0.699816882610321, 0.6864652633666992, -1.873617172241211, 1.0889219045639038, 1.6649500131607056, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9927901029586792, -1.0652704238891602, 0.9058136940002441, 1.41622793674469, -1.3254368305206299, -1.0263599157333374, -0.0064430925995111465, 0.0064430925995111465, 0.7829785346984863, -0.7024872303009033, 0.6872282028198242, -1.8732357025146484, 1.0889219045639038, 1.664568543434143, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9985122680664062, -1.0648889541625977, 0.9073395729064941, 1.4200427532196045, -1.3250553607940674, -1.025978446006775, -0.0019280703272670507, 0.0019280703272670507, 0.7825970649719238, -0.7036316394805908, 0.6872282028198242, -1.8732357025146484, 1.0889219045639038, 1.664568543434143, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.02521550655365, -1.0610742568969727, 0.9164950251579285, 1.4467459917068481, -1.3250553607940674, -1.036659836769104, -0.0019547082483768463, 0.0019547082483768463, 0.7829785346984863, -0.7051575779914856, 0.6860837936401367, -1.872854232788086, 1.0915923118591309, 1.664568543434143, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0732814073562622, -1.0465781688690186, 0.9279392957687378, 1.492904543876648, -1.3315403461456299, -1.0683223009109497, -0.0019547082483768463, 0.0019547082483768463, 0.7825970649719238, -0.7051575779914856, 0.6876096725463867, -1.872854232788086, 1.0950255393981934, 1.664568543434143, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.118677020072937, -1.021400809288025, 0.9382390975952148, 1.5402075052261353, -1.339551329612732, -1.0984588861465454, -0.0019547082483768463, 0.0019547082483768463, 0.7825970649719238, -0.7051575779914856, 0.6921873688697815, -1.872854232788086, 1.0984588861465454, 1.664568543434143, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1537728309631348, -0.9931715726852417, 0.9462500810623169, 1.58255136013031, -1.340695858001709, -1.127450942993164, -0.0019547082483768463, 0.0019547082483768463, 0.7829785346984863, -0.7051575779914856, 0.6960021257400513, -1.872854232788086, 1.104180932044983, 1.664568543434143, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1892499923706055, -0.9706645011901855, 0.951209306716919, 1.6340504884719849, -1.342221736907959, -1.1549172401428223, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7051575779914856, 0.699816882610321, -1.8732357025146484, 1.1095216274261475, 1.6641870737075806, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.2029831409454346, -0.9630350470542908, 0.9603646993637085, 1.6805905103683472, -1.342984676361084, -1.1709392070770264, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7051575779914856, 0.7009612917900085, -1.872854232788086, 1.11295485496521, 1.6641870737075806, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.2037460803985596, -0.970283031463623, 0.9740977883338928, 1.7118715047836304, -1.342984676361084, -1.1774243116378784, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7051575779914856, 0.7009612917900085, -1.872091293334961, 1.119439959526062, 1.6641870737075806, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.188868522644043, -0.9870679974555969, 0.9889753460884094, 1.7366673946380615, -1.3426032066345215, -1.1709392070770264, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7051575779914856, 0.7009612917900085, -1.8709467649459839, 1.121347427368164, 1.6641870737075806, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1659799814224243, -1.0084306001663208, 1.0034713745117188, 1.7530708312988281, -1.3426032066345215, -1.1495765447616577, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7051575779914856, 0.699816882610321, -1.8709467649459839, 1.1240177154541016, 1.6641870737075806, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1381323337554932, -1.032463550567627, 1.0172045230865479, 1.7603188753128052, -1.341458797454834, -1.125162124633789, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7055390477180481, 0.697528064250946, -1.8709467649459839, 1.125925064086914, 1.6641870737075806, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.1072328090667725, -1.055733561515808, 1.030937671661377, 1.7637522220611572, -1.3403143882751465, -1.0992218255996704, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7063019871711731, 0.693331778049469, -1.872091293334961, 1.1263065338134766, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0782406330108643, -1.0797665119171143, 1.045433759689331, 1.7694742679595947, -1.338788390159607, -1.0725184679031372, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7078278660774231, 0.6879911422729492, -1.872091293334961, 1.126688003540039, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0481040477752686, -1.1037994623184204, 1.0603113174438477, 1.7698558568954468, -1.3269627094268799, -1.049248456954956, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7104982137680054, 0.6837949156761169, -1.872091293334961, 1.126688003540039, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-1.0202564001083374, -1.126688003540039, 1.0763332843780518, 1.7698558568954468, -1.3117036819458008, -1.0290303230285645, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7146944403648376, 0.6811245679855347, -1.8717098236083984, 1.1270694732666016, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.997367799282074, -1.1472877264022827, 1.0908293724060059, 1.7702373266220093, -1.2884336709976196, -1.0172045230865479, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7181277275085449, 0.6788357496261597, -1.871328353881836, 1.1270694732666016, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9771496057510376, -1.1701762676239014, 1.107614278793335, 1.7710002660751343, -1.270504355430603, -1.0030899047851562, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7207980751991272, 0.6769283413887024, -1.8694208860397339, 1.1285953521728516, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9573128819465637, -1.19611656665802, 1.128213882446289, 1.7710002660751343, -1.261730432510376, -0.9962233901023865, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7223239541053772, 0.6738765835762024, -1.8629357814788818, 1.1293584108352661, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9359502792358398, -1.2224383354187012, 1.1518653631210327, 1.7710002660751343, -1.2506675720214844, -0.9916456937789917, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7227054238319397, 0.6696802973747253, -1.8583581447601318, 1.1293584108352661, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.916876494884491, -1.2476158142089844, 1.1739909648895264, 1.7729076147079468, -1.2441824674606323, -0.9832532405853271, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7227054238319397, 0.6647211313247681, -1.8545433282852173, 1.1301213502883911, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8978027105331421, -1.268596887588501, 1.190394401550293, 1.7729076147079468, -1.2392233610153198, -0.9718089699745178, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7227054238319397, 0.6609063744544983, -1.8511101007461548, 1.1305028200149536, 1.663805603981018, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.884069561958313, -1.2834744453430176, 1.199549913406372, 1.7721446752548218, -1.2304493188858032, -0.960746169090271, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7227054238319397, 0.6593804955482483, -1.8507286310195923, 1.1308842897415161, 1.663805603981018, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8714808821678162, -1.2930114269256592, 1.2045090198516846, 1.7721446752548218, -1.2098497152328491, -0.955024003982544, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7230868935585022, 0.6593804955482483, -1.8507286310195923, 1.1312657594680786, 1.663805603981018, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -1.3017853498458862, 1.2087053060531616, 1.7721446752548218, -1.1835278272628784, -0.9500648379325867, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7230868935585022, 0.6593804955482483, -1.8499656915664673, 1.1312657594680786, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8543145060539246, -1.3136110305786133, 1.2148088216781616, 1.7713817358016968, -1.1636911630630493, -0.9439612627029419, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7230868935585022, 0.6593804955482483, -1.8480583429336548, 1.1316472291946411, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -1.3258183002471924, 1.2190051078796387, 1.7706187963485718, -1.1427099704742432, -0.9378576278686523, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7230868935585022, 0.6593804955482483, -1.8476768732070923, 1.1312657594680786, 1.663805603981018, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8249408602714539, -1.3391698598861694, 1.2254902124404907, 1.7713817358016968, -1.124399185180664, -0.9294651746749878, -0.0019502625800669193, 0.0019502625800669193, 0.7833600640296936, -0.7230868935585022, 0.6593804955482483, -1.8476768732070923, 1.1316472291946411, 1.663805603981018, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8085374236106873, -1.354810357093811, 1.2376973628997803, 1.7736705541610718, -1.1110475063323975, -0.9214541912078857, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7230868935585022, 0.6593804955482483, -1.8476768732070923, 1.1316472291946411, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7913710474967957, -1.3712139129638672, 1.2548638582229614, 1.7813000679016113, -1.1022735834121704, -0.9126802682876587, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7230868935585022, 0.6597619652748108, -1.8472952842712402, 1.1320286989212036, 1.663805603981018, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7791637778282166, -1.3876173496246338, 1.2724117040634155, 1.7996108531951904, -1.0934996604919434, -0.9039062857627869, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7230868935585022, 0.6601434350013733, -1.8472952842712402, 1.1320286989212036, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.767719566822052, -1.4021133184432983, 1.2865263223648071, 1.817158818244934, -1.0889219045639038, -0.890554666519165, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7230868935585022, 0.6601434350013733, -1.8469138145446777, 1.1320286989212036, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7593270540237427, -1.4127947092056274, 1.2937743663787842, 1.8335622549057007, -1.0809109210968018, -0.883306622505188, -0.0019502625800669193, 0.0019502625800669193, 0.7833600640296936, -0.7230868935585022, 0.6593804955482483, -1.8469138145446777, 1.1320286989212036, 1.663805603981018, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7524605393409729, -1.4185168743133545, 1.2956817150115967, 1.8480583429336548, -1.0568779706954956, -0.8806362748146057, -0.0019547082483768463, 0.0019547082483768463, 0.7833600640296936, -0.7230868935585022, 0.6597619652748108, -1.8465323448181152, 1.1320286989212036, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7490272521972656, -1.4208056926727295, 1.2968261241912842, 1.8595025539398193, -1.0370413064956665, -0.8802548050880432, -0.0019502625800669193, 0.0019502625800669193, 0.7833600640296936, -0.7234683632850647, 0.6597619652748108, -1.8465323448181152, 1.1320286989212036, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7475013136863708, -1.422713041305542, 1.2964446544647217, 1.8659876585006714, -1.0240710973739624, -0.8806362748146057, -0.002098284661769867, 0.002098284661769867, 0.7833600640296936, -0.7230868935585022, 0.6597619652748108, -1.8465323448181152, 1.1320286989212036, 1.663805603981018, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7478827834129333, -1.4230945110321045, 1.2930114269256592, 1.8663691282272339, -1.0179674625396729, -0.8802548050880432, -0.002597047481685877, 0.002597047481685877, 0.7833600640296936, -0.7230868935585022, 0.6609063744544983, -1.8465323448181152, 1.1320286989212036, 1.6641870737075806, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7482643127441406, -1.4230945110321045, 1.2891966104507446, 1.8709467649459839, -1.0076676607131958, -0.8806362748146057, -0.005540373269468546, 0.005540373269468546, 0.7833600640296936, -0.7234683632850647, 0.6624323129653931, -1.8465323448181152, 1.1320286989212036, 1.663805603981018, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7505531311035156, -1.422713041305542, 1.2850003242492676, 1.8690394163131714, -1.0107194185256958, -0.8806362748146057, -0.011775177903473377, 0.011775177903473377, 0.7833600640296936, -0.7234683632850647, 0.6628137826919556, -1.8465323448181152, 1.1316472291946411, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7528420090675354, -1.4223315715789795, 1.2804226875305176, 1.874380111694336, -1.0084306001663208, -0.882543683052063, -0.018065331503748894, 0.018065331503748894, 0.7833600640296936, -0.7234683632850647, 0.6628137826919556, -1.8461508750915527, 1.1316472291946411, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.76276034116745, -1.4135576486587524, 1.274319052696228, 1.898413062095642, -1.0049973726272583, -0.9054322242736816, -0.01810436323285103, 0.01810436323285103, 0.7833600640296936, -0.7234683632850647, 0.6643396615982056, -1.8461508750915527, 1.1320286989212036, 1.663805603981018, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7829785346984863, -1.3906691074371338, 1.261730432510376, 1.9163423776626587, -1.0023269653320312, -0.9351872801780701, -0.020321838557720184, 0.020321838557720184, 0.7833600640296936, -0.7234683632850647, 0.6666285395622253, -1.8442435264587402, 1.1316472291946411, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -1.3555734157562256, 1.2422751188278198, 1.9258793592453003, -1.0038528442382812, -0.9756237268447876, -0.021605398505926132, 0.021605398505926132, 0.7833600640296936, -0.7234683632850647, 0.6708247661590576, -1.8442435264587402, 1.1316472291946411, 1.663805603981018, -0.024448126554489136, 0.024448126554489136], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84592205286026, -1.3097963333129883, 1.2132829427719116, 1.9331272840499878, -1.0053788423538208, -1.0240710973739624, -0.021605398505926132, 0.021605398505926132, 0.7833600640296936, -0.7234683632850647, 0.6765468716621399, -1.8446249961853027, 1.1346989870071411, 1.663805603981018, -0.024438248947262764, 0.024438248947262764], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8844510316848755, -1.2457083463668823, 1.1758984327316284, 1.951056718826294, -1.0057603120803833, -1.0858701467514038, -0.021605398505926132, 0.021605398505926132, 0.7806897163391113, -0.7234683632850647, 0.6883726119995117, -1.8522545099258423, 1.1427099704742432, 1.6649500131607056, -0.025422019883990288, 0.025422019883990288], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9313725233078003, -1.1583504676818848, 1.1316472291946411, 2.0052261352539062, -1.0061417818069458, -1.1820019483566284, -0.02163529396057129, 0.02163529396057129, 0.7658121585845947, -0.7265201807022095, 0.7104982137680054, -1.89040207862854, 1.1472877264022827, 1.7240787744522095, -0.0256763007491827, 0.0256763007491827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9664682745933533, -1.0473411083221436, 1.0866330862045288, 2.051384687423706, -1.0061417818069458, -1.3075073957443237, -0.026269981637597084, 0.026269981637597084, 0.7314793467521667, -0.7444495558738708, 0.7391088604927063, -1.9464789628982544, 1.1488136053085327, 1.8308918476104736, -0.02568606659770012, 0.02568606659770012], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9756237268447876, -0.9325169920921326, 1.0378042459487915, 2.0773251056671143, -1.0069047212600708, -1.4490348100662231, -0.027108654379844666, 0.027108654379844666, 0.6765468716621399, -0.7856488823890686, 0.7623788714408875, -1.9888228178024292, 1.1331731081008911, 1.9472419023513794, -0.0256763007491827, 0.0256763007491827], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9641794562339783, -0.805867075920105, 0.9798199534416199, 2.0803768634796143, -1.0072861909866333, -1.583314299583435, -0.027108654379844666, 0.027108654379844666, 0.6132219433784485, -0.8512626886367798, 0.7761120200157166, -2.0128557682037354, 1.0923552513122559, 2.06588077545166, -0.025343645364046097, 0.025343645364046097], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9180209040641785, -0.7055390477180481, 0.9344243407249451, 2.050621747970581, -1.0095750093460083, -1.658083438873291, -0.02709907293319702, 0.02709907293319702, 0.5521858334541321, -0.9344243407249451, 0.7894636392593384, -2.018577814102173, 1.0343708992004395, 2.1646831035614014, -0.024615930393338203, 0.024615930393338203], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8596551418304443, -0.6288624405860901, 0.8997100591659546, 2.0006484985351562, -1.0099564790725708, -1.6935607194900513, -0.026608597487211227, 0.026608597487211227, 0.5006866455078125, -1.0202564001083374, 0.80510413646698, -1.9930189847946167, 0.969520092010498, 2.2287709712982178, -0.024615930393338203, 0.024615930393338203], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8100633025169373, -0.5869001150131226, 0.8821622133255005, 1.9739452600479126, -1.0095750093460083, -1.7076753377914429, -0.026608597487211227, 0.026608597487211227, 0.4648279547691345, -1.0999847650527954, 0.8249408602714539, -1.970893383026123, 0.9199283123016357, 2.277599811553955, -0.024615930393338203, 0.024615930393338203], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7860303521156311, -0.5659189820289612, 0.8726252913475037, 1.953345537185669, -1.0084306001663208, -1.7111085653305054, -0.026608597487211227, 0.026608597487211227, 0.4377431869506836, -1.1659799814224243, 0.8440146446228027, -1.958304762840271, 0.8821622133255005, 2.3058290481567383, -0.024615930393338203, 0.024615930393338203], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.5540932416915894, 0.8649957776069641, 1.943808674812317, -1.0065232515335083, -1.7114900350570679, -0.026608597487211227, 0.026608597487211227, 0.41371023654937744, -1.2182421684265137, 0.8630884289741516, -1.9514381885528564, 0.8516441583633423, 2.323758363723755, -0.024576466530561447, 0.024576466530561447], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7600900530815125, -0.5479896068572998, 0.8596551418304443, 1.9396123886108398, -1.0069047212600708, -1.7118715047836304, -0.026608597487211227, 0.026608597487211227, 0.3904402256011963, -1.2556267976760864, 0.8787289261817932, -1.9457160234451294, 0.8287556171417236, 2.331387758255005, -0.023407697677612305, 0.023407697677612305], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7532234787940979, -0.5457007884979248, 0.8573662638664246, 1.9350347518920898, -1.0065232515335083, -1.7122529745101929, -0.026608597487211227, 0.026608597487211227, 0.3721294105052948, -1.280041217803955, 0.8886472582817078, -1.944571614265442, 0.8070115447044373, 2.3386359214782715, -0.023149240761995316, 0.023149240761995316], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7490272521972656, -0.5437933802604675, 0.8558403849601746, 1.9346532821655273, -1.0065232515335083, -1.7145417928695679, -0.026608597487211227, 0.026608597487211227, 0.361066609621048, -1.2964446544647217, 0.8947508931159973, -1.9411382675170898, 0.7837415337562561, 2.3416876792907715, -0.020520497113466263, 0.020520497113466263], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7471198439598083, -0.543411910533905, 0.8546959757804871, 1.9323643445968628, -1.0069047212600708, -1.7145417928695679, -0.026608597487211227, 0.026608597487211227, 0.3557259440422058, -1.3078888654708862, 0.8955138325691223, -1.9335087537765503, 0.7581826448440552, 2.342069149017334, -0.016462143510580063, 0.016462143510580063], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7452124953269958, -0.54264897108078, 0.8539330363273621, 1.9319828748703003, -1.0069047212600708, -1.7145417928695679, -0.026608597487211227, 0.026608597487211227, 0.34962233901023865, -1.3139925003051758, 0.8928435444831848, -1.9247348308563232, 0.7337682247161865, 2.3432135581970215, -0.002840146655216813, 0.002840146655216813], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7448310256004333, -0.54264897108078, 0.8539330363273621, 1.9319828748703003, -1.0069047212600708, -1.7141603231430054, -0.026608597487211227, 0.026608597487211227, 0.34695202112197876, -1.3090333938598633, 0.8882657885551453, -1.9140535593032837, 0.7188906669616699, 2.3500800132751465, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7440680265426636, -0.54264897108078, 0.8535515666007996, 1.9319828748703003, -1.0065232515335083, -1.7141603231430054, -0.026579637080430984, 0.026579637080430984, 0.3534370958805084, -1.271267294883728, 0.8741512298583984, -1.9079499244689941, 0.7169833183288574, 2.357328176498413, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7433050870895386, -0.54264897108078, 0.8524070978164673, 1.9312199354171753, -1.0065232515335083, -1.7141603231430054, -0.026114679872989655, 0.026114679872989655, 0.38014039397239685, -1.1919203996658325, 0.8421072959899902, -1.9071869850158691, 0.7410162687301636, 2.3729686737060547, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7433050870895386, -0.5430304408073425, 0.8508812189102173, 1.9296940565109253, -1.0069047212600708, -1.7133973836898804, -0.026124395430088043, 0.026124395430088043, 0.439269095659256, -1.0805294513702393, 0.7913710474967957, -1.9151979684829712, 0.8005264401435852, 2.4176013469696045, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7433050870895386, -0.54264897108078, 0.8497368097305298, 1.9296940565109253, -1.0065232515335083, -1.7111085653305054, -0.026124395430088043, 0.026124395430088043, 0.5495155453681946, -0.9576943516731262, 0.7295719981193542, -1.9327458143234253, 0.8802548050880432, 2.50152587890625, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7413977384567261, -0.54264897108078, 0.8470664620399475, 1.9296940565109253, -1.0065232515335083, -1.7111085653305054, -0.026143822818994522, 0.026143822818994522, 0.7032501697540283, -0.8596551418304443, 0.6704432964324951, -1.9487677812576294, 0.961509108543396, 2.6277942657470703, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7364385724067688, -0.54264897108078, 0.8440146446228027, 1.9296940565109253, -1.0069047212600708, -1.7107270956039429, -0.026143822818994522, 0.026143822818994522, 0.8844510316848755, -0.8142595291137695, 0.6280995011329651, -1.960593581199646, 1.0305562019348145, 2.753681182861328, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7280460596084595, -0.54264897108078, 0.841725766658783, 1.9304569959640503, -1.0069047212600708, -1.7103456258773804, -0.026143822818994522, 0.026143822818994522, 1.0137712955474854, -0.8272297382354736, 0.6197070479393005, -1.9674601554870605, 1.0728999376296997, 2.811284065246582, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7177462577819824, -0.5430304408073425, 0.840199887752533, 1.9304569959640503, -1.0065232515335083, -1.7095826864242554, -0.026143822818994522, 0.026143822818994522, 1.107614278793335, -0.8852140307426453, 0.6456473469734192, -1.9697489738464355, 1.0992218255996704, 2.8482871055603027, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7047760486602783, -0.54264897108078, 0.838674008846283, 1.9312199354171753, -1.0069047212600708, -1.7076753377914429, -0.026143822818994522, 0.026143822818994522, 1.1564431190490723, -0.9561684727668762, 0.6898985505104065, -1.978904366493225, 1.1095216274261475, 2.8677425384521484, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6929503083229065, -0.54264897108078, 0.8360036611557007, 1.9312199354171753, -1.0069047212600708, -1.7076753377914429, -0.026143822818994522, 0.026143822818994522, 1.1751353740692139, -1.0187304019927979, 0.7330052852630615, -1.9884413480758667, 1.106088399887085, 2.881093978881836, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6815060377120972, -0.54264897108078, 0.8337147831916809, 1.9316014051437378, -1.0069047212600708, -1.7076753377914429, -0.026143822818994522, 0.026143822818994522, 1.1755168437957764, -1.0679408311843872, 0.7646677494049072, -1.9945448637008667, 1.0835813283920288, 2.888723611831665, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6757839322090149, -0.54264897108078, 0.8318074345588684, 1.9316014051437378, -1.0069047212600708, -1.7076753377914429, -0.026143822818994522, 0.026143822818994522, 1.1625467538833618, -1.104943871498108, 0.7841230034828186, -1.9979782104492188, 1.0568779706954956, 2.89253830909729, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6715877056121826, -0.5430304408073425, 0.8310444951057434, 1.9312199354171753, -1.0065232515335083, -1.7080568075180054, -0.026143822818994522, 0.026143822818994522, 1.1449989080429077, -1.1366063356399536, 0.7990005612373352, -1.9995040893554688, 1.0248340368270874, 2.8929197788238525, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6605249047279358, -0.5457007884979248, 0.8299000263214111, 1.9312199354171753, -1.0069047212600708, -1.7080568075180054, -0.026143822818994522, 0.026143822818994522, 1.1285953521728516, -1.1602579355239868, 0.805867075920105, -2.0010299682617188, 1.0061417818069458, 2.8929197788238525, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6414511203765869, -0.5560005903244019, 0.8295185565948486, 1.9304569959640503, -1.0065232515335083, -1.7080568075180054, -0.026143822818994522, 0.026143822818994522, 1.118677020072937, -1.1709392070770264, 0.8054856061935425, -1.9983596801757812, 0.9843976497650146, 2.8929197788238525, -0.004675471223890781, 0.004675471223890781], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6082627773284912, -0.578507661819458, 0.8299000263214111, 1.9293125867843628, -1.0065232515335083, -1.7080568075180054, -0.026143822818994522, 0.026143822818994522, 1.1167696714401245, -1.1732280254364014, 0.8062485456466675, -1.9960707426071167, 0.968757152557373, 2.9184787273406982, -0.01919357106089592, 0.01919357106089592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5487525463104248, -0.612840473651886, 0.8398184180259705, 1.9277867078781128, -1.0065232515335083, -1.7080568075180054, -0.026143822818994522, 0.026143822818994522, 1.1232547760009766, -1.1530098915100098, 0.8100633025169373, -1.9937819242477417, 0.9576943516731262, 2.93411922454834, -0.028518207371234894, 0.028518207371234894], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4530022144317627, -0.6593804955482483, 0.8646143078804016, 1.896887183189392, -1.0065232515335083, -1.6824978590011597, -0.02674359828233719, 0.02674359828233719, 1.1358433961868286, -1.1007477045059204, 0.8009079098701477, -1.9934004545211792, 0.9576943516731262, 2.9322118759155273, -0.028797274455428123, 0.028797274455428123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33093002438545227, -0.726901650428772, 0.9016174674034119, 1.793125867843628, -1.0065232515335083, -1.6004806756973267, -0.02994939684867859, 0.02994939684867859, 1.1472877264022827, -1.0187304019927979, 0.768482506275177, -1.9907301664352417, 0.960746169090271, 2.9207675457000732, -0.028815818950533867, 0.028815818950533867], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24166475236415863, -0.8127336502075195, 0.9359502792358398, 1.7198824882507324, -1.0061417818069458, -1.5333409309387207, -0.02970537729561329, 0.02970537729561329, 1.1533913612365723, -0.9164950251579285, 0.7215610146522522, -1.9895857572555542, 0.9714275002479553, 2.9119935035705566, -0.028815818950533867, 0.028815818950533867], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17681391537189484, -0.9164950251579285, 0.969520092010498, 1.6737239360809326, -1.0057603120803833, -1.4887083768844604, -0.028806548565626144, 0.028806548565626144, 1.1541543006896973, -0.8142595291137695, 0.6761654019355774, -1.9895857572555542, 0.9954604506492615, 2.906271457672119, -0.028806548565626144, 0.028806548565626144], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1337071806192398, -1.0282673835754395, 1.0027084350585938, 1.650835394859314, -1.0057603120803833, -1.4581903219223022, -0.028639348223805428, 0.028639348223805428, 1.1507209539413452, -0.7295719981193542, 0.6391623020172119, -1.9865338802337646, 1.030937671661377, 2.9028382301330566, -0.028797274455428123, 0.028797274455428123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11272602528333664, -1.1324101686477661, 1.0343708992004395, 1.6363393068313599, -1.0053788423538208, -1.426146388053894, -0.02853686362504959, 0.02853686362504959, 1.1377508640289307, -0.6799801588058472, 0.6177996397018433, -1.9865338802337646, 1.0633630752563477, 2.8974974155426025, -0.028788000345230103, 0.028788000345230103], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10090028494596481, -1.2186236381530762, 1.0622186660766602, 1.6290913820266724, -1.0030899047851562, -1.4093613624572754, -0.027185240760445595, 0.027185240760445595, 1.122110366821289, -0.6570916175842285, 0.6082627773284912, -1.9865338802337646, 1.0812923908233643, 2.8822383880615234, -0.028788000345230103, 0.028788000345230103], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09479667246341705, -1.280041217803955, 1.0770962238311768, 1.6287097930908203, -0.9832532405853271, -1.3960098028182983, -0.025019705295562744, 0.025019705295562744, 1.102655053138733, -0.6448844075202942, 0.6040665507316589, -1.9861524105072021, 1.0923552513122559, 2.8662164211273193, -0.02853686362504959, 0.02853686362504959], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09365224838256836, -1.3281071186065674, 1.0881589651107788, 1.6283283233642578, -0.9584572911262512, -1.3914320468902588, -0.02428012154996395, 0.02428012154996395, 1.0851072072982788, -0.6391623020172119, 0.6021591424942017, -1.9861524105072021, 1.101129174232483, 2.8532464504241943, -0.02852753736078739, 0.02852753736078739], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08983749151229858, -1.3643473386764526, 1.0957884788513184, 1.6294728517532349, -0.9317540526390076, -1.3872358798980713, -0.022093696519732475, 0.022093696519732475, 1.0770962238311768, -0.6361104846000671, 0.6025406122207642, -1.9827191829681396, 1.104180932044983, 2.8456168174743652, -0.02852753736078739, 0.02852753736078739], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0864042118191719, -1.3902876377105713, 1.098077416419983, 1.6348134279251099, -0.9042877554893494, -1.3845654726028442, -0.019410666078329086, 0.019410666078329086, 1.0732814073562622, -0.6342030763626099, 0.6063553690910339, -1.9785228967666626, 1.104943871498108, 2.8383688926696777, -0.02853686362504959, 0.02853686362504959], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08525978773832321, -1.4078354835510254, 1.0999847650527954, 1.6409170627593994, -0.8859769701957703, -1.3845654726028442, -0.016223888844251633, 0.016223888844251633, 1.0702296495437622, -0.6330586671829224, 0.6124590039253235, -1.9747081995010376, 1.10685133934021, 2.8376059532165527, -0.02852753736078739, 0.02852753736078739], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08525978773832321, -1.416990876197815, 1.101892113685608, 1.648546576499939, -0.8733882904052734, -1.3841840028762817, -0.009057349525392056, 0.009057349525392056, 1.0694667100906372, -0.6330586671829224, 0.6189440488815308, -1.970893383026123, 1.107614278793335, 2.834935426712036, -0.02852753736078739, 0.02852753736078739], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08525978773832321, -1.416990876197815, 1.1022735834121704, 1.6618982553482056, -0.8653773069381714, -1.3818951845169067, -0.0005333379376679659, 0.0005333379376679659, 1.0618371963500977, -0.6330586671829224, 0.6250476837158203, -1.967841625213623, 1.1057069301605225, 2.834935426712036, -0.02853686362504959, 0.02853686362504959], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08411535620689392, -1.3925764560699463, 1.0931181907653809, 1.667620301246643, -0.8627069592475891, -1.3899061679840088, -0.0006466757040470839, 0.0006466757040470839, 1.0481040477752686, -0.6330586671829224, 0.6258106231689453, -1.967841625213623, 1.103417992591858, 2.8345539569854736, -0.02852753736078739, 0.02852753736078739], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08258945494890213, -1.3391698598861694, 1.0748074054718018, 1.6683833599090576, -0.8669031858444214, -1.41775381565094, -0.0006429863278754056, 0.0006429863278754056, 1.0290303230285645, -0.6326771974563599, 0.6212329268455505, -1.967841625213623, 1.0957884788513184, 2.8345539569854736, -0.02852753736078739, 0.02852753736078739], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08525978773832321, -1.2594414949417114, 1.050774335861206, 1.6733424663543701, -0.9107728600502014, -1.4475089311599731, -0.0006429863278754056, 0.0006429863278754056, 1.0046159029006958, -0.6330586671829224, 0.6254291534423828, -1.967841625213623, 1.0904479026794434, 2.8185319900512695, -0.027926772832870483, 0.027926772832870483], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10967422276735306, -1.1434729099273682, 1.0030899047851562, 1.6790646314620972, -0.9660868048667908, -1.489089846611023, -0.0006429863278754056, 0.0006429863278754056, 0.9748607873916626, -0.6399252414703369, 0.6403067111968994, -1.967841625213623, 1.0885404348373413, 2.7651255130767822, -0.027926772832870483, 0.027926772832870483], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14858472347259521, -1.0179674625396729, 0.9275577664375305, 1.6783016920089722, -1.0282673835754395, -1.5485999584197998, -0.0006429863278754056, 0.0006429863278754056, 0.9378576278686523, -0.6597619652748108, 0.6589990258216858, -1.9682230949401855, 1.0851072072982788, 2.690737724304199, -0.02795509435236454, 0.02795509435236454], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.21076524257659912, -0.8730067610740662, 0.8291370868682861, 1.6744868755340576, -1.101129174232483, -1.644731879234314, -0.0006429863278754056, 0.0006429863278754056, 0.9031433463096619, -0.691042959690094, 0.6784542798995972, -1.968604564666748, 1.0824369192123413, 2.614824056625366, -0.028002262115478516, 0.028002262115478516], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2969787120819092, -0.7463569045066833, 0.7501716613769531, 1.6748683452606201, -1.178568720817566, -1.7778668403625488, -0.0006429863278754056, 0.0006429863278754056, 0.8787289261817932, -0.7280460596084595, 0.6986724734306335, -1.9682230949401855, 1.0763332843780518, 2.5461585521698, -0.03022751770913601, 0.03022751770913601], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41409170627593994, -0.6536583304405212, 0.6994354128837585, 1.6737239360809326, -1.2354085445404053, -1.9522011280059814, -0.0006429863278754056, 0.0006429863278754056, 0.8680475950241089, -0.7616159319877625, 0.7227054238319397, -1.9682230949401855, 1.0717555284500122, 2.496185302734375, -0.03049451857805252, 0.03049451857805252], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5514228940010071, -0.6105515956878662, 0.6731135845184326, 1.6714351177215576, -1.2586785554885864, -2.1398870944976807, -0.0006429863278754056, 0.0006429863278754056, 0.8623254895210266, -0.7856488823890686, 0.7433050870895386, -1.967841625213623, 1.0660333633422852, 2.4538414478302, -0.03049451857805252, 0.03049451857805252], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6830319762229919, -0.6147478222846985, 0.6597619652748108, 1.6718165874481201, -1.2441824674606323, -2.301251173019409, -0.0006429863278754056, 0.0006429863278754056, 0.8581292629241943, -0.7993820309638977, 0.7536049485206604, -1.967078685760498, 1.0584038496017456, 2.4191272258758545, -0.03049451857805252, 0.03049451857805252], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7784008383750916, -0.6628137826919556, 0.6586175560951233, 1.6718165874481201, -1.2163348197937012, -2.424849271774292, -0.0006429863278754056, 0.0006429863278754056, 0.8554589152336121, -0.8070115447044373, 0.7578011751174927, -1.9666972160339355, 1.0408560037612915, 2.3962385654449463, -0.03049451857805252, 0.03049451857805252], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8371480703353882, -0.7257572412490845, 0.6692988276481628, 1.6733424663543701, -1.190394401550293, -2.5095369815826416, -0.0006429863278754056, 0.0006429863278754056, 0.8554589152336121, -0.811589241027832, 0.7589455842971802, -1.9659342765808105, 1.0152971744537354, 2.375638961791992, -0.03049451857805252, 0.03049451857805252], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8691920638084412, -0.7814526557922363, 0.6837949156761169, 1.6752498149871826, -1.1564431190490723, -2.5694284439086914, -0.0006429863278754056, 0.0006429863278754056, 0.8508812189102173, -0.8173113465309143, 0.7608529925346375, -1.9640268087387085, 0.9870679974555969, 2.360379934310913, -0.03048565238714218, 0.03048565238714218], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8882657885551453, -0.8226520419120789, 0.6929503083229065, 1.6744868755340576, -1.116388201713562, -2.614824056625366, -0.0006429863278754056, 0.0006429863278754056, 0.8421072959899902, -0.8230335116386414, 0.7642862796783447, -1.964408278465271, 0.9718089699745178, 2.351987600326538, -0.030450165271759033, 0.030450165271759033], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, -0.8596551418304443, 0.6971465349197388, 1.6710536479949951, -1.0778591632843018, -2.6522088050842285, -0.0006429863278754056, 0.0006429863278754056, 0.8352407217025757, -0.8268482685089111, 0.7665750980377197, -1.964408278465271, 0.9611276388168335, 2.3477911949157715, -0.030379081144928932, 0.030379081144928932], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9126802682876587, -0.8951323628425598, 0.699816882610321, 1.6699092388153076, -1.038185715675354, -2.6888303756713867, -0.0006429863278754056, 0.0006429863278754056, 0.8318074345588684, -0.8287556171417236, 0.768482506275177, -1.9647897481918335, 0.9565499424934387, 2.344357967376709, -0.030379081144928932, 0.030379081144928932], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9287022352218628, -0.9283207654953003, 0.7013428211212158, 1.6664758920669556, -1.0057603120803833, -2.7250704765319824, -0.0006429863278754056, 0.0006429863278754056, 0.8291370868682861, -0.8295185565948486, 0.770771324634552, -1.9647897481918335, 0.9531166553497314, 2.3371100425720215, -0.030379081144928932, 0.030379081144928932], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9435797929763794, -0.9576943516731262, 0.7017242908477783, 1.6672388315200806, -0.9763866662979126, -2.7563514709472656, -0.0006429863278754056, 0.0006429863278754056, 0.8268482685089111, -0.8299000263214111, 0.7715343236923218, -1.9647897481918335, 0.9496833682060242, 2.3287174701690674, -0.030379081144928932, 0.030379081144928932], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9515907764434814, -0.9771496057510376, 0.7021057605743408, 1.667620301246643, -0.9431982636451721, -2.7788586616516113, -0.0006429863278754056, 0.0006429863278754056, 0.8268482685089111, -0.8302815556526184, 0.7696269154548645, -1.9647897481918335, 0.9493018984794617, 2.3218510150909424, -0.030379081144928932, 0.030379081144928932], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9554055333137512, -0.9878309369087219, 0.7021057605743408, 1.6744868755340576, -0.9199283123016357, -2.792973279953003, -0.0006429863278754056, 0.0006429863278754056, 0.8268482685089111, -0.8302815556526184, 0.7642862796783447, -1.964408278465271, 0.9493018984794617, 2.3180360794067383, -0.030379081144928932, 0.030379081144928932], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9561684727668762, -0.9931715726852417, 0.7021057605743408, 1.6798275709152222, -0.9046692848205566, -2.8002212047576904, -0.002235206076875329, 0.002235206076875329, 0.8295185565948486, -0.8302815556526184, 0.7593270540237427, -1.9594491720199585, 0.9576943516731262, 2.3149843215942383, -0.03023645095527172, 0.03023645095527172], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9573128819465637, -0.9946975111961365, 0.7009612917900085, 1.6828793287277222, -0.8939879536628723, -2.799839735031128, -0.007843637838959694, 0.007843637838959694, 0.8356221914291382, -0.8306630253791809, 0.7578011751174927, -1.9384679794311523, 0.9740977883338928, 2.3058290481567383, -0.03020964190363884, 0.03020964190363884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9569314122200012, -0.9885938763618469, 0.6986724734306335, 1.6855497360229492, -0.8916990756988525, -2.7880139350891113, -0.016347667202353477, 0.016347667202353477, 0.8619440197944641, -0.8348592519760132, 0.7631418108940125, -1.9171053171157837, 0.9924086332321167, 2.303539991378784, -0.03020964190363884, 0.03020964190363884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9561684727668762, -0.969520092010498, 0.6971465349197388, 1.6866941452026367, -0.8867399096488953, -2.7639811038970947, -0.02452712133526802, 0.02452712133526802, 0.9039062857627869, -0.84897381067276, 0.7722972631454468, -1.9064240455627441, 1.0095750093460083, 2.3401618003845215, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9565499424934387, -0.9306095838546753, 0.6929503083229065, 1.6866941452026367, -0.8859769701957703, -2.734607458114624, -0.02555902674794197, 0.02555902674794197, 0.9584572911262512, -0.883306622505188, 0.7825970649719238, -1.8987945318222046, 1.0187304019927979, 2.4023423194885254, -0.02795509435236454, 0.02795509435236454], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.951209306716919, -0.8558403849601746, 0.6780728101730347, 1.6863126754760742, -0.8859769701957703, -2.6976044178009033, -0.02965093031525612, 0.02965093031525612, 1.0164415836334229, -0.9393835067749023, 0.7970931529998779, -1.888113260269165, 1.0275044441223145, 2.4599449634552, -0.027832254767417908, 0.027832254767417908], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9344243407249451, -0.7616159319877625, 0.6548027992248535, 1.6874570846557617, -0.8859769701957703, -2.663271427154541, -0.030030369758605957, 0.030030369758605957, 1.0637445449829102, -1.0080491304397583, 0.8165484070777893, -1.8690394163131714, 1.0328450202941895, 2.494659423828125, -0.02725217677652836, 0.02725217677652836], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9134432077407837, -0.6548027992248535, 0.6292439103126526, 1.6866941452026367, -0.8859769701957703, -2.6369497776031494, -0.030030369758605957, 0.030030369758605957, 1.0893033742904663, -1.0725184679031372, 0.8367666006088257, -1.8579766750335693, 1.033226490020752, 2.517547845840454, -0.026512013748288155, 0.026512013748288155], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8943694233894348, -0.5758373141288757, 0.6155108213424683, 1.6870756149291992, -0.8863584399223328, -2.618257522583008, -0.030030369758605957, 0.030030369758605957, 1.098077416419983, -1.121347427368164, 0.8516441583633423, -1.8507286310195923, 1.0343708992004395, 2.5339512825012207, -0.026512013748288155, 0.026512013748288155], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.884069561958313, -0.5254825949668884, 0.6086442470550537, 1.6863126754760742, -0.8867399096488953, -2.599565029144287, -0.030030369758605957, 0.030030369758605957, 1.0931181907653809, -1.1568245887756348, 0.8588922023773193, -1.8430991172790527, 1.0355154275894165, 2.540817975997925, -0.026056360453367233, 0.026056360453367233], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8802548050880432, -0.501068115234375, 0.6017776727676392, 1.6859312057495117, -0.8863584399223328, -2.5892653465270996, -0.030030369758605957, 0.030030369758605957, 1.0763332843780518, -1.181620478630066, 0.8619440197944641, -1.8396657705307007, 1.028648853302002, 2.545395612716675, -0.02401289902627468, 0.02401289902627468], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8813992738723755, -0.4877164959907532, 0.5971999764442444, 1.6851682662963867, -0.8901731967926025, -2.582780122756958, -0.030030369758605957, 0.030030369758605957, 1.057259440422058, -1.199549913406372, 0.8638513684272766, -1.8373769521713257, 1.0206378698349, 2.5488288402557373, -0.023049773648381233, 0.023049773648381233], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.881017804145813, -0.4812313914299011, 0.5945296287536621, 1.6817349195480347, -0.9145876169204712, -2.579728364944458, -0.030030369758605957, 0.030030369758605957, 1.0416189432144165, -1.2132829427719116, 0.8630884289741516, -1.8347066640853882, 1.0095750093460083, 2.551499128341675, -0.020868519321084023, 0.020868519321084023], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8798733353614807, -0.47741663455963135, 0.5930037498474121, 1.6817349195480347, -0.9466315507888794, -2.576676607131958, -0.030030369758605957, 0.030030369758605957, 1.0313191413879395, -1.2251087427139282, 0.8607995510101318, -1.8244068622589111, 0.9920271635055542, 2.5518805980682373, -0.013735619373619556, 0.013735619373619556], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, -0.47512778639793396, 0.5918593406677246, 1.6813534498214722, -0.9626535177230835, -2.573624849319458, -0.030030369758605957, 0.030030369758605957, 1.0263599157333374, -1.2327382564544678, 0.8596551418304443, -1.819447636604309, 0.9805828928947449, 2.5522620677948, -0.0026741360779851675, 0.0026741360779851675], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8718623518943787, -0.47436484694480896, 0.5910963416099548, 1.6813534498214722, -0.9744792580604553, -2.573624849319458, -0.030030369758605957, 0.030030369758605957, 1.02216374874115, -1.2323567867279053, 0.8588922023773193, -1.814488410949707, 0.9744792580604553, 2.556839942932129, -0.0014013274339959025, 0.0014013274339959025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8649957776069641, -0.47398337721824646, 0.5910963416099548, 1.6813534498214722, -0.9813458323478699, -2.5732433795928955, -0.030030369758605957, 0.030030369758605957, 1.022926688194275, -1.2079423666000366, 0.8588922023773193, -1.814488410949707, 0.9821087718009949, 2.556839942932129, -0.0014013274339959025, 0.0014013274339959025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8623254895210266, -0.47398337721824646, 0.5910963416099548, 1.6813534498214722, -0.9843976497650146, -2.5717175006866455, -0.030030369758605957, 0.030030369758605957, 1.033989429473877, -1.1396582126617432, 0.8600366115570068, -1.817921757698059, 1.0248340368270874, 2.5549325942993164, -0.0014013274339959025, 0.0014013274339959025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8604180812835693, -0.4736018776893616, 0.5922408103942871, 1.6813534498214722, -0.9855420589447021, -2.570573091506958, -0.030030369758605957, 0.030030369758605957, 1.043144941329956, -1.0496299266815186, 0.8783474564552307, -1.8236438035964966, 1.0759518146514893, 2.5316624641418457, -0.0014013274339959025, 0.0014013274339959025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8550774455070496, -0.4736018776893616, 0.5922408103942871, 1.6794461011886597, -0.9885938763618469, -2.570573091506958, -0.030030369758605957, 0.030030369758605957, 1.0355154275894165, -0.9733348488807678, 0.9367132186889648, -1.8327993154525757, 1.1442358493804932, 2.4874112606048584, -0.0014013274339959025, 0.0014013274339959025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, -0.4736018776893616, 0.5918593406677246, 1.6794461011886597, -0.9885938763618469, -2.5701913833618164, -0.030838342383503914, 0.030838342383503914, 0.9981307983398438, -0.9496833682060242, 1.0370413064956665, -1.8560693264007568, 1.195353627204895, 2.4252307415008545, -0.0014013274339959025, 0.0014013274339959025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8470664620399475, -0.4736018776893616, 0.5903334021568298, 1.6802090406417847, -0.9889753460884094, -2.569809913635254, -0.03240633010864258, 0.03240633010864258, 0.9298466444015503, -0.996604859828949, 1.1652170419692993, -1.880865216255188, 1.2205309867858887, 2.3516061305999756, -0.0013971939915791154, 0.0013971939915791154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -0.4736018776893616, 0.5888075232505798, 1.6798275709152222, -0.9893568158149719, -2.5694284439086914, -0.03240633010864258, 0.03240633010864258, 0.8566033244132996, -1.0961699485778809, 1.3105592727661133, -1.8965057134628296, 1.2235828638076782, 2.288280963897705, -0.0014013274339959025, 0.0014013274339959025], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8356221914291382, -0.4736018776893616, 0.5876630544662476, 1.6809719800949097, -0.9893568158149719, -2.567521095275879, -0.03240633010864258, 0.03240633010864258, 0.8001449704170227, -1.2258716821670532, 1.4597162008285522, -1.9048981666564941, 1.2125200033187866, 2.2383077144622803, -0.0013971939915791154, 0.0013971939915791154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8333333134651184, -0.47398337721824646, 0.5869001150131226, 1.6809719800949097, -0.9897382855415344, -2.5663766860961914, -0.03240633010864258, 0.03240633010864258, 0.7524605393409729, -1.3536659479141235, 1.5981918573379517, -1.9071869850158691, 1.19916832447052, 2.2043564319610596, -0.0013971939915791154, 0.0013971939915791154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8314259648323059, -0.47436484694480896, 0.5861371755599976, 1.6813534498214722, -0.9893568158149719, -2.565995216369629, -0.03240633010864258, 0.03240633010864258, 0.7101167440414429, -1.4612420797348022, 1.7107270956039429, -1.9079499244689941, 1.1926833391189575, 2.1868085861206055, -0.0013971939915791154, 0.0013971939915791154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8302815556526184, -0.47474631667137146, 0.5857557058334351, 1.6817349195480347, -0.9893568158149719, -2.5633249282836914, -0.03240633010864258, 0.03240633010864258, 0.6734950542449951, -1.5363928079605103, 1.7854963541030884, -1.8900206089019775, 1.1781872510910034, 2.1761271953582764, -0.0013971939915791154, 0.0013971939915791154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8310444951057434, -0.47512778639793396, 0.5857557058334351, 1.6813534498214722, -0.9893568158149719, -2.5625619888305664, -0.03240633010864258, 0.03240633010864258, 0.6437399983406067, -1.5829328298568726, 1.821736454963684, -1.8484398126602173, 1.1606394052505493, 2.171931028366089, -0.0013971939915791154, 0.0013971939915791154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8348592519760132, -0.47550925612449646, 0.5857557058334351, 1.6813534498214722, -0.9893568158149719, -2.5595102310180664, -0.03240633010864258, 0.03240633010864258, 0.6250476837158203, -1.6084916591644287, 1.8392843008041382, -1.8198291063308716, 1.1350804567337036, 2.1723124980926514, -0.0013971939915791154, 0.0013971939915791154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8367666006088257, -0.47550925612449646, 0.5857557058334351, 1.6813534498214722, -0.9893568158149719, -2.5587472915649414, -0.03239806741476059, 0.03239806741476059, 0.613603413105011, -1.6245136260986328, 1.8480583429336548, -1.8015183210372925, 1.1175326108932495, 2.176508665084839, -0.0013971939915791154, 0.0013971939915791154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.838674008846283, -0.47550925612449646, 0.5857557058334351, 1.6813534498214722, -0.9893568158149719, -2.5587472915649414, -0.03239806741476059, 0.03239806741476059, 0.6067368388175964, -1.6317616701126099, 1.8507286310195923, -1.7904554605484009, 1.1022735834121704, 2.186427116394043, -0.0013971939915791154, 0.0013971939915791154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8390554785728455, -0.47627222537994385, 0.5857557058334351, 1.6805905103683472, -0.9893568158149719, -2.5587472915649414, -0.03239806741476059, 0.03239806741476059, 0.6013962030410767, -1.6355763673782349, 1.8488212823867798, -1.7862592935562134, 1.0881589651107788, 2.199397325515747, -0.0034712792839854956, 0.0034712792839854956], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8390554785728455, -0.47741663455963135, 0.5846112966537476, 1.6805905103683472, -0.9893568158149719, -2.554550886154175, -0.03240633010864258, 0.03240633010864258, 0.5994887948036194, -1.6359578371047974, 1.8442435264587402, -1.7820630073547363, 1.0671778917312622, 2.2074081897735596, -0.009343041107058525, 0.009343041107058525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8390554785728455, -0.481612890958786, 0.5815594792366028, 1.6805905103683472, -0.9893568158149719, -2.5431067943573, -0.03240633010864258, 0.03240633010864258, 0.6006332635879517, -1.6313802003860474, 1.8389028310775757, -1.7786297798156738, 1.045433759689331, 2.2104599475860596, -0.014354518614709377, 0.014354518614709377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840962827205658, -0.49382010102272034, 0.578507661819458, 1.6813534498214722, -0.9889753460884094, -2.531280994415283, -0.03240633010864258, 0.03240633010864258, 0.6078813076019287, -1.6088731288909912, 1.8228808641433716, -1.7759593725204468, 1.0236896276474, 2.213130474090576, -0.01592976227402687, 0.01592976227402687], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, -0.5216678380966187, 0.5773632526397705, 1.6809719800949097, -0.9889753460884094, -2.523651599884033, -0.03239806741476059, 0.03239806741476059, 0.6139848828315735, -1.5588998794555664, 1.7786297798156738, -1.7755779027938843, 1.0065232515335083, 2.2142748832702637, -0.019915176555514336, 0.019915176555514336], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8787289261817932, -0.5670633912086487, 0.5811780095100403, 1.6809719800949097, -0.9828717708587646, -2.5209810733795166, -0.03238153085112572, 0.03238153085112572, 0.6177996397018433, -1.4673457145690918, 1.6863126754760742, -1.7782483100891113, 0.9760051965713501, 2.2142748832702637, -0.022263100370764732, 0.022263100370764732], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9084840416908264, -0.6349660754203796, 0.5926222801208496, 1.6802090406417847, -0.9588387608528137, -2.5179293155670166, -0.03172755986452103, 0.03172755986452103, 0.6174181699752808, -1.3441290855407715, 1.5516518354415894, -1.7942702770233154, 0.9466315507888794, 2.214656352996826, -0.023586468771100044, 0.023586468771100044], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9309910535812378, -0.725375771522522, 0.6109330654144287, 1.6798275709152222, -0.9390020370483398, -2.5171663761138916, -0.031719058752059937, 0.031719058752059937, 0.6101701259613037, -1.204127550125122, 1.3986800909042358, -1.80266273021698, 0.9237430095672607, 2.214656352996826, -0.024191096425056458, 0.024191096425056458], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9447242021560669, -0.8176928162574768, 0.6311513185501099, 1.6813534498214722, -0.918402373790741, -2.5133516788482666, -0.031195657327771187, 0.031195657327771187, 0.5918593406677246, -1.0835813283920288, 1.264782190322876, -1.800755262374878, 0.9130617380142212, 2.216182231903076, -0.024191096425056458, 0.024191096425056458], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9569314122200012, -0.8924620151519775, 0.650225043296814, 1.6821163892745972, -0.8993285894393921, -2.5125887393951416, -0.030467912554740906, 0.030467912554740906, 0.5678263306617737, -0.9813458323478699, 1.1549172401428223, -1.7839703559875488, 0.9073395729064941, 2.2188525199890137, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.962272047996521, -0.9370946884155273, 0.6609063744544983, 1.6821163892745972, -0.889028787612915, -2.510681390762329, -0.029267629608511925, 0.029267629608511925, 0.5521858334541321, -0.9096284508705139, 1.0770962238311768, -1.7637522220611572, 0.9019989371299744, 2.219233989715576, -0.024191096425056458, 0.024191096425056458], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9657053351402283, -0.9611276388168335, 0.6651026010513306, 1.6821163892745972, -0.882543683052063, -2.510681390762329, -0.02924928441643715, 0.02924928441643715, 0.54417484998703, -0.8764400482177734, 1.033989429473877, -1.7484931945800781, 0.9012359976768494, 2.2211413383483887, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9683756828308105, -0.9767681360244751, 0.6673914790153503, 1.6821163892745972, -0.8783474564552307, -2.510681390762329, -0.02764272131025791, 0.02764272131025791, 0.5380712747573853, -0.8619440197944641, 1.0111008882522583, -1.737048864364624, 0.8981841802597046, 2.221522808074951, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.970283031463623, -0.9889753460884094, 0.6670100092887878, 1.6821163892745972, -0.8752956390380859, -2.510681390762329, -0.025968806818127632, 0.025968806818127632, 0.5376898050308228, -0.8569847941398621, 1.0034713745117188, -1.728274941444397, 0.8955138325691223, 2.221522808074951, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9706645011901855, -0.9992752075195312, 0.6643396615982056, 1.6817349195480347, -0.8745326995849609, -2.510681390762329, -0.024220775812864304, 0.024220775812864304, 0.5357823967933655, -0.8566033244132996, 1.0027084350585938, -1.722934365272522, 0.8947508931159973, 2.221522808074951, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9691386222839355, -1.0103379487991333, 0.6631952524185181, 1.6817349195480347, -0.8718623518943787, -2.510681390762329, -0.019776521250605583, 0.019776521250605583, 0.5350194573402405, -0.8558403849601746, 1.0046159029006958, -1.722934365272522, 0.8943694233894348, 2.2211413383483887, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9664682745933533, -1.0202564001083374, 0.6624323129653931, 1.6817349195480347, -0.8699550032615662, -2.510681390762329, -0.015571287833154202, 0.015571287833154202, 0.5350194573402405, -0.8558403849601746, 1.0046159029006958, -1.71950101852417, 0.8939879536628723, 2.2211413383483887, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9634165167808533, -1.0255969762802124, 0.6612878441810608, 1.6821163892745972, -0.8680475950241089, -2.510681390762329, -0.001959156710654497, 0.001959156710654497, 0.5350194573402405, -0.8558403849601746, 1.0030899047851562, -1.7160677909851074, 0.8936064839363098, 2.2203783988952637, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9603646993637085, -1.0217822790145874, 0.6593804955482483, 1.6813534498214722, -0.8676661252975464, -2.5110628604888916, -0.0009452335652895272, 0.0009452335652895272, 0.5350194573402405, -0.8558403849601746, 1.0011825561523438, -1.7133973836898804, 0.8932250142097473, 2.2203783988952637, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9611276388168335, -0.9901197552680969, 0.6589990258216858, 1.6752498149871826, -0.8749141693115234, -2.510681390762329, -0.0009413659572601318, 0.0009413659572601318, 0.5350194573402405, -0.8550774455070496, 1.0011825561523438, -1.7114900350570679, 0.8928435444831848, 2.219996929168701, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9645609259605408, -0.926413357257843, 0.6643396615982056, 1.667620301246643, -0.9122987985610962, -2.509918451309204, -0.0009413659572601318, 0.0009413659572601318, 0.5350194573402405, -0.8546959757804871, 1.0023269653320312, -1.7080568075180054, 0.892080545425415, 2.219233989715576, -0.024171307682991028, 0.024171307682991028], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9653238654136658, -0.8367666006088257, 0.6799801588058472, 1.667620301246643, -0.9660868048667908, -2.494659423828125, -0.0009413659572601318, 0.0009413659572601318, 0.5357823967933655, -0.8535515666007996, 1.0015640258789062, -1.7080568075180054, 0.8909361362457275, 2.219233989715576, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.954261064529419, -0.7520790696144104, 0.7154573798179626, 1.666857361793518, -1.0400930643081665, -2.466430187225342, -0.0009413659572601318, 0.0009413659572601318, 0.5373083353042603, -0.8524070978164673, 0.9954604506492615, -1.7076753377914429, 0.892080545425415, 2.219233989715576, -0.024171307682991028, 0.024171307682991028], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9225986003875732, -0.6960021257400513, 0.7696269154548645, 1.666857361793518, -1.101892113685608, -2.427138090133667, -0.0009413659572601318, 0.0009413659572601318, 0.5422675013542175, -0.8497368097305298, 0.9840161800384521, -1.7053864002227783, 0.8936064839363098, 2.219233989715576, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8611810207366943, -0.6822690367698669, 0.8325703740119934, 1.660753846168518, -1.1427099704742432, -2.371061325073242, -0.0009413659572601318, 0.0009413659572601318, 0.5502784848213196, -0.8436331748962402, 0.9653238654136658, -1.7046234607696533, 0.8951323628425598, 2.2188525199890137, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.761997401714325, -0.7089722752571106, 0.8981841802597046, 1.636720895767212, -1.1667429208755493, -2.297436475753784, -0.0009413659572601318, 0.0009413659572601318, 0.5636301040649414, -0.8295185565948486, 0.9374761581420898, -1.7050049304962158, 0.8989471197128296, 2.2188525199890137, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6700618267059326, -0.7745860815048218, 0.9794384837150574, 1.6050583124160767, -1.180857539176941, -2.2249560356140137, -0.0009413659572601318, 0.0009413659572601318, 0.578507661819458, -0.8073930144309998, 0.9000915288925171, -1.7050049304962158, 0.9016174674034119, 2.2188525199890137, -0.024181202054023743, 0.024181202054023743], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6021591424942017, -0.8741512298583984, 1.0889219045639038, 1.5852216482162476, -1.187342643737793, -2.1639199256896973, -0.0009413659572601318, 0.0009413659572601318, 0.5991073250770569, -0.7856488823890686, 0.8577477931976318, -1.7050049304962158, 0.9073395729064941, 2.218471050262451, -0.024161411449313164, 0.024161411449313164], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5540932416915894, -0.9946975111961365, 1.2167162895202637, 1.5749218463897705, -1.1919203996658325, -2.119668960571289, -0.0009413659572601318, 0.0009413659572601318, 0.6212329268455505, -0.7742046117782593, 0.8207446336746216, -1.7042419910430908, 0.9172579646110535, 2.2180895805358887, -0.024161411449313164, 0.024161411449313164], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5163271427154541, -1.123636245727539, 1.348706841468811, 1.5691996812820435, -1.19611656665802, -2.093728542327881, -0.0009413659572601318, 0.0009413659572601318, 0.647936224937439, -0.7669565677642822, 0.7852674126625061, -1.6962310075759888, 0.927176296710968, 2.217708110809326, -0.0241515152156353, 0.0241515152156353], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4877164959907532, -1.2483787536621094, 1.4719233512878418, 1.5657663345336914, -1.2098497152328491, -2.0841915607452393, -0.0009413659572601318, 0.0009413659572601318, 0.6696802973747253, -0.763523280620575, 0.7589455842971802, -1.6851682662963867, 0.9283207654953003, 2.217708110809326, -0.0241515152156353, 0.0241515152156353], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4697871506214142, -1.3536659479141235, 1.5829328298568726, 1.5627145767211914, -1.2174792289733887, -2.0853359699249268, -0.0009413659572601318, 0.0009413659572601318, 0.6834134459495544, -0.7616159319877625, 0.7394903302192688, -1.6733424663543701, 0.9313725233078003, 2.217708110809326, -0.02412182278931141, 0.02412182278931141], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46177613735198975, -1.4360647201538086, 1.6771572828292847, 1.559281349182129, -1.2251087427139282, -2.094491481781006, -0.0009413659572601318, 0.0009413659572601318, 0.6940947771072388, -0.7600900530815125, 0.7265201807022095, -1.666094422340393, 0.9344243407249451, 2.216945171356201, -0.023933637887239456, 0.023933637887239456], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4545281231403351, -1.4917601346969604, 1.742771029472351, 1.5585182905197144, -1.2335011959075928, -2.100594997406006, -0.0009413659572601318, 0.0009413659572601318, 0.699816882610321, -0.7589455842971802, 0.7185091972351074, -1.6599907875061035, 0.9355688095092773, 2.2119860649108887, -0.023893995210528374, 0.023893995210528374], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4491874575614929, -1.5245670080184937, 1.7774853706359863, 1.5588998794555664, -1.2399863004684448, -2.1086061000823975, -0.0009413659572601318, 0.0009413659572601318, 0.7024872303009033, -0.7581826448440552, 0.7154573798179626, -1.6584649085998535, 0.9351872801780701, 2.2096970081329346, -0.023417633026838303, 0.023417633026838303], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44575417041778564, -1.5417333841323853, 1.7935073375701904, 1.5585182905197144, -1.2415121793746948, -2.1215763092041016, -0.0009413659572601318, 0.0009413659572601318, 0.7043945789337158, -0.7581826448440552, 0.7146944403648376, -1.658846378326416, 0.9355688095092773, 2.206263780593872, -0.023417633026838303, 0.023417633026838303], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44155794382095337, -1.5516518354415894, 1.8022812604904175, 1.5585182905197144, -1.2438009977340698, -2.139505624771118, -0.0009491034434176981, 0.0009491034434176981, 0.7047760486602783, -0.7581826448440552, 0.7143129706382751, -1.655794620513916, 0.9355688095092773, 2.2028305530548096, -0.023417633026838303, 0.023417633026838303], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.439269095659256, -1.5558480024337769, 1.8083847761154175, 1.5585182905197144, -1.2422751188278198, -2.1555275917053223, -0.004828461445868015, 0.004828461445868015, 0.7055390477180481, -0.7581826448440552, 0.7108796834945679, -1.655794620513916, 0.9351872801780701, 2.202449083328247, -0.023417633026838303, 0.023417633026838303], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4377431869506836, -1.5581368207931519, 1.813725471496582, 1.5558480024337769, -1.2357900142669678, -2.165827512741089, -0.009226772002875805, 0.009226772002875805, 0.7055390477180481, -0.7581826448440552, 0.7070649266242981, -1.655794620513916, 0.9351872801780701, 2.201686143875122, -0.023417633026838303, 0.023417633026838303], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.440032035112381, -1.5585182905197144, 1.8228808641433716, 1.5566109418869019, -1.2346456050872803, -2.1730754375457764, -0.011452548205852509, 0.011452548205852509, 0.7055390477180481, -0.7581826448440552, 0.7040131092071533, -1.655794620513916, 0.9355688095092773, 2.199397325515747, -0.023417633026838303, 0.023417633026838303], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44537270069122314, -1.5474555492401123, 1.8347066640853882, 1.5588998794555664, -1.2315938472747803, -2.177271604537964, -0.014685802161693573, 0.014685802161693573, 0.7055390477180481, -0.7581826448440552, 0.7043945789337158, -1.6554131507873535, 0.9351872801780701, 2.199397325515747, -0.023417633026838303, 0.023417633026838303], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.45796138048171997, -1.516937494277954, 1.8434805870056152, 1.564621925354004, -1.2235828638076782, -2.174219846725464, -0.02016304060816765, 0.02016304060816765, 0.7055390477180481, -0.7581826448440552, 0.7097352743148804, -1.6554131507873535, 0.9267948269844055, 2.1868085861206055, -0.023487171158194542, 0.023487171158194542], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4724574685096741, -1.4646753072738647, 1.8430991172790527, 1.5882734060287476, -1.2136644124984741, -2.1482794284820557, -0.02302987314760685, 0.02302987314760685, 0.7055390477180481, -0.7578011751174927, 0.7204165458679199, -1.656557559967041, 0.9069581031799316, 2.1494240760803223, -0.02483276091516018, 0.02483276091516018], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4877164959907532, -1.3773174285888672, 1.795414686203003, 1.6306172609329224, -1.1907758712768555, -2.1131837368011475, -0.024487631395459175, 0.024487631395459175, 0.7055390477180481, -0.7497901916503906, 0.7345311641693115, -1.6779202222824097, 0.881780743598938, 2.1124207973480225, -0.026424972340464592, 0.026424972340464592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5106050372123718, -1.2411307096481323, 1.6699092388153076, 1.6702907085418701, -1.1087586879730225, -2.0780880451202393, -0.026046637445688248, 0.026046637445688248, 0.7055390477180481, -0.7185091972351074, 0.7394903302192688, -1.7053864002227783, 0.8283741474151611, 2.0742733478546143, -0.027888987213373184, 0.027888987213373184], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.534637987613678, -1.0706111192703247, 1.481078863143921, 1.6977568864822388, -0.9752422571182251, -2.0372700691223145, -0.026172954589128494, 0.026172954589128494, 0.7143129706382751, -0.6605249047279358, 0.7146944403648376, -1.7320897579193115, 0.7169833183288574, 2.0342183113098145, -0.03005731850862503, 0.03005731850862503], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5628671646118164, -0.8878843188285828, 1.259060025215149, 1.71797513961792, -0.8245593905448914, -1.9838635921478271, -0.026463668793439865, 0.026463668793439865, 0.7410162687301636, -0.5884260535240173, 0.647936224937439, -1.7454413175582886, 0.5537117719650269, 1.9586862325668335, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6006332635879517, -0.7078278660774231, 1.02521550655365, 1.7221713066101074, -0.6597619652748108, -1.9216830730438232, -0.027213936671614647, 0.027213936671614647, 0.7665750980377197, -0.5231937170028687, 0.572022557258606, -1.7549782991409302, 0.4091325104236603, 1.9041352272033691, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6368734240531921, -0.5342565178871155, 0.7848859429359436, 1.730945348739624, -0.47894254326820374, -1.8579766750335693, -0.027747048065066338, 0.027747048065066338, 0.7917525172233582, -0.4526207447052002, 0.49000534415245056, -1.7603188753128052, 0.32101166248321533, 1.8785762786865234, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6750209927558899, -0.3839551508426666, 0.576981782913208, 1.732471227645874, -0.31414511799812317, -1.8148698806762695, -0.028349952772259712, 0.028349952772259712, 0.8176928162574768, -0.38014039397239685, 0.4079881012439728, -1.7622263431549072, 0.2748531401157379, 1.8648432493209839, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7051575779914856, -0.2782863974571228, 0.4217212200164795, 1.7336156368255615, -0.2157244235277176, -1.8038071393966675, -0.028321852907538414, 0.028321852907538414, 0.8314259648323059, -0.3130006790161133, 0.32024872303009033, -1.7629892826080322, 0.23937590420246124, 1.8591210842132568, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7417792081832886, -0.22068360447883606, 0.3118562698364258, 1.733997106552124, -0.1516365259885788, -1.80418860912323, -0.028284361585974693, 0.028284361585974693, 0.8421072959899902, -0.28324559330940247, 0.2573052644729614, -1.7652781009674072, 0.21190966665744781, 1.8591210842132568, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7738231420516968, -0.19054703414440155, 0.23403525352478027, 1.735522985458374, -0.11425192654132843, -1.80418860912323, -0.028293738141655922, 0.028293738141655922, 0.8524070978164673, -0.2733272314071655, 0.22068360447883606, -1.7652781009674072, 0.1810101419687271, 1.8602654933929443, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7928969264030457, -0.17376211285591125, 0.182917520403862, 1.736285924911499, -0.07953765243291855, -1.80418860912323, -0.02820928953588009, 0.02820928953588009, 0.8585107326507568, -0.28896772861480713, 0.1962691694498062, -1.7656595706939697, 0.14553292095661163, 1.8625543117523193, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7940413355827332, -0.1676585078239441, 0.14438849687576294, 1.7374303340911865, -0.026131074875593185, -1.8045700788497925, -0.028011690825223923, 0.028011690825223923, 0.8646143078804016, -0.3114747703075409, 0.18673227727413177, -1.7664225101470947, 0.11234454810619354, 1.8644617795944214, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80510413646698, -0.16994735598564148, 0.11615930497646332, 1.739719271659851, 0.01888304017484188, -1.806477427482605, -0.028415454551577568, 0.028415454551577568, 0.8649957776069641, -0.33207446336746216, 0.18558785319328308, -1.7679483890533447, 0.10013733059167862, 1.8659876585006714, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.805867075920105, -0.17490653693675995, 0.10013733059167862, 1.739719271659851, 0.037193864583969116, -1.8083847761154175, -0.030820799991488457, 0.030820799991488457, 0.8669031858444214, -0.3427557647228241, 0.18596932291984558, -1.7690927982330322, 0.08907453715801239, 1.8659876585006714, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8054856061935425, -0.17719538509845734, 0.09174486994743347, 1.739719271659851, 0.04558632895350456, -1.815251350402832, -0.030820799991488457, 0.030820799991488457, 0.8669031858444214, -0.35229265689849854, 0.18711376190185547, -1.7690927982330322, 0.086785688996315, 1.8663691282272339, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8031967878341675, -0.17833982408046722, 0.0871671661734581, 1.7393378019332886, 0.05054550990462303, -1.8198291063308716, -0.030820799991488457, 0.030820799991488457, 0.8665217161178589, -0.3542000353336334, 0.18863965570926666, -1.7687113285064697, 0.08564125746488571, 1.8667505979537964, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7993820309638977, -0.1802472025156021, 0.08487831056118011, 1.7393378019332886, 0.05359731614589691, -1.8228808641433716, -0.030820799991488457, 0.030820799991488457, 0.8649957776069641, -0.3595407009124756, 0.18902114033699036, -1.7683298587799072, 0.08525978773832321, 1.8675135374069214, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7978560924530029, -0.1802472025156021, 0.08373387902975082, 1.7393378019332886, 0.0558861680328846, -1.824025273323059, -0.030820799991488457, 0.030820799991488457, 0.8646143078804016, -0.3599221706390381, 0.18940261006355286, -1.7656595706939697, 0.08525978773832321, 1.8694208860397339, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7970931529998779, -0.1802472025156021, 0.08297093212604523, 1.7393378019332886, 0.0558861680328846, -1.8263142108917236, -0.030820799991488457, 0.030820799991488457, 0.8634698987007141, -0.3603036403656006, 0.18940261006355286, -1.7656595706939697, 0.08525978773832321, 1.8694208860397339, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7970931529998779, -0.1802472025156021, 0.08297093212604523, 1.7393378019332886, 0.056267641484737396, -1.8266956806182861, -0.030820799991488457, 0.030820799991488457, 0.8634698987007141, -0.3603036403656006, 0.18940261006355286, -1.7656595706939697, 0.08525978773832321, 1.8694208860397339, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7970931529998779, -0.1802472025156021, 0.08258945494890213, 1.7393378019332886, 0.05664911866188049, -1.8270771503448486, -0.030829571187496185, 0.030829571187496185, 0.8619440197944641, -0.3603036403656006, 0.18902114033699036, -1.7652781009674072, 0.08449683338403702, 1.8694208860397339, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7993820309638977, -0.17872129380702972, 0.0707637146115303, 1.730945348739624, 0.07572289556264877, -1.812962532043457, -0.03330475091934204, 0.03330475091934204, 0.8531700372695923, -0.33474478125572205, 0.1672770231962204, -1.7507820129394531, 0.06275273114442825, 1.8537803888320923, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8634698987007141, -0.16155488789081573, 0.05245288833975792, 1.6733424663543701, 0.10967422276735306, -1.6844053268432617, -0.033935606479644775, 0.033935606479644775, 0.8783474564552307, -0.2660791873931885, 0.11310750246047974, -1.7053864002227783, 0.007438773289322853, 1.7519264221191406, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9157320261001587, -0.1489662081003189, 0.0398641936480999, 1.6187914609909058, 0.12722209095954895, -1.573395848274231, -0.03347821906208992, 0.03347821906208992, 0.9065766334533691, -0.212672621011734, 0.07572289556264877, -1.6752498149871826, -0.04329747334122658, 1.6741054058074951, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9309910535812378, -0.14171816408634186, 0.03299763426184654, 1.587891936302185, 0.14057374000549316, -1.5180819034576416, -0.03347036987543106, 0.03347036987543106, 0.9092469811439514, -0.1977950781583786, 0.06084534898400307, -1.639009714126587, -0.06084534898400307, 1.6344319581985474, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9367132186889648, -0.1371404528617859, 0.027656977996230125, 1.568818211555481, 0.1508735716342926, -1.4917601346969604, -0.03348606824874878, 0.03348606824874878, 0.9023804068565369, -0.18635080754756927, 0.05283436179161072, -1.6058213710784912, -0.07877469807863235, 1.6077287197113037, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9386205673217773, -0.12684062123298645, 0.021553369238972664, 1.5577553510665894, 0.15506981313228607, -1.4776455163955688, -0.03347821906208992, 0.03347821906208992, 0.8970397710800171, -0.17872129380702972, 0.045204851776361465, -1.5909438133239746, -0.0864042118191719, 1.5955214500427246, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9386205673217773, -0.1184481605887413, 0.018501564860343933, 1.5516518354415894, 0.16155488789081573, -1.4703974723815918, -0.03347821906208992, 0.03347821906208992, 0.8958953022956848, -0.17223620414733887, 0.042153049260377884, -1.580643892288208, -0.09403372555971146, 1.587891936302185, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9340428709983826, -0.11654078215360641, 0.016975661739706993, 1.5505073070526123, 0.16155488789081573, -1.4703974723815918, -0.03347821906208992, 0.03347821906208992, 0.8955138325691223, -0.17566949129104614, 0.04253452271223068, -1.5772106647491455, -0.09403372555971146, 1.581406831741333, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9153505563735962, -0.11463340371847153, 0.015449759550392628, 1.5474555492401123, 0.16231784224510193, -1.4791713953018188, -0.03348606824874878, 0.03348606824874878, 0.8951323628425598, -0.17833982408046722, 0.04444190114736557, -1.573395848274231, -0.09479667246341705, 1.580643892288208, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8909361362457275, -0.11348897218704224, 0.01506828423589468, 1.5470740795135498, 0.16269932687282562, -1.505874752998352, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.17910276353359222, 0.04444190114736557, -1.571869969367981, -0.09479667246341705, 1.5779736042022705, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8745326995849609, -0.11158160120248795, 0.014686808921396732, 1.5440223217010498, 0.16308079659938812, -1.5291447639465332, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.17910276353359222, 0.04482337832450867, -1.5699626207351685, -0.09441519528627396, 1.5779736042022705, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8649957776069641, -0.11158160120248795, 0.013542382046580315, 1.5394445657730103, 0.164988175034523, -1.5394445657730103, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.17910276353359222, 0.04558632895350456, -1.5699626207351685, -0.09441519528627396, 1.5779736042022705, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8607995510101318, -0.11081864684820175, 0.013160906732082367, 1.5302891731262207, 0.1646067053079605, -1.5428777933120728, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.17948424816131592, 0.04558632895350456, -1.5699626207351685, -0.09403372555971146, 1.577592134475708, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8562218546867371, -0.10967422276735306, 0.013160906732082367, 1.5222781896591187, 0.1646067053079605, -1.5424963235855103, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.17986571788787842, 0.04558632895350456, -1.5699626207351685, -0.09403372555971146, 1.577592134475708, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8550774455070496, -0.10967422276735306, 0.013160906732082367, 1.516937494277954, 0.1646067053079605, -1.5428777933120728, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.5699626207351685, -0.09403372555971146, 1.577592134475708, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8527885675430298, -0.10967422276735306, 0.013160906732082367, 1.513122797012329, 0.1646067053079605, -1.5424963235855103, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.569581151008606, -0.09365224838256836, 1.577592134475708, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8508812189102173, -0.10967422276735306, 0.013160906732082367, 1.5100709199905396, 0.16422522068023682, -1.5424963235855103, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.569581151008606, -0.09365224838256836, 1.577592134475708, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8501182794570923, -0.10967422276735306, 0.013160906732082367, 1.5100709199905396, 0.16422522068023682, -1.5424963235855103, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.5691996812820435, -0.09327077120542526, 1.577592134475708, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.10967422276735306, 0.013160906732082367, 1.5100709199905396, 0.16384375095367432, -1.5424963235855103, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.5691996812820435, -0.09288929402828217, 1.577592134475708, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.10967422276735306, 0.013160906732082367, 1.5100709199905396, 0.16384375095367432, -1.5424963235855103, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.5691996812820435, -0.09288929402828217, 1.5779736042022705, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, -0.10967422276735306, 0.013160906732082367, 1.509689450263977, 0.16346226632595062, -1.5424963235855103, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.5691996812820435, -0.09288929402828217, 1.577592134475708, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.509689450263977, 0.16346226632595062, -1.5424963235855103, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.5691996812820435, -0.09250781685113907, 1.5779736042022705, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.509689450263977, 0.16308079659938812, -1.5424963235855103, -0.03349391371011734, 0.03349391371011734, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.5691996812820435, -0.09250781685113907, 1.5779736042022705, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.509689450263977, 0.16308079659938812, -1.5424963235855103, -0.03347821906208992, 0.03347821906208992, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.5691996812820435, -0.09212634712457657, 1.5779736042022705, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5424963235855103, -0.030316757038235664, 0.030316757038235664, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.568818211555481, -0.09212634712457657, 1.5779736042022705, -0.03288860246539116, 0.03288860246539116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5424963235855103, -0.019539106637239456, 0.019539106637239456, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.568818211555481, -0.09174486994743347, 1.5779736042022705, -0.02258189395070076, 0.02258189395070076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5424963235855103, -0.0069084870629012585, 0.0069084870629012585, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.568818211555481, -0.09174486994743347, 1.5779736042022705, -0.01386228483170271, 0.01386228483170271], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5424963235855103, -1.4429124348680489e-05, 1.4429124348680489e-05, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.568818211555481, -0.09174486994743347, 1.5779736042022705, -0.0018794642528519034, 0.0018794642528519034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5424963235855103, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.566147804260254, -0.09174486994743347, 1.5779736042022705, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5424963235855103, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.566529393196106, -0.09174486994743347, 1.578355073928833, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5424963235855103, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.04634927958250046, -1.5669108629226685, -0.09174486994743347, 1.578355073928833, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5424963235855103, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.5669108629226685, -0.09136339277029037, 1.578355073928833, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5428777933120728, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.5691996812820435, -0.09098191559314728, 1.579118013381958, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5424963235855103, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.5699626207351685, -0.09098191559314728, 1.581406831741333, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5424963235855103, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.5699626207351685, -0.09098191559314728, 1.581406831741333, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5424963235855103, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.569581151008606, -0.09098191559314728, 1.581406831741333, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5428777933120728, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.569581151008606, -0.09098191559314728, 1.581406831741333, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5428777933120728, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.569581151008606, -0.09098191559314728, 1.581406831741333, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5428777933120728, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.569581151008606, -0.09098191559314728, 1.5817883014678955, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5428777933120728, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.569581151008606, -0.09098191559314728, 1.581406831741333, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5428777933120728, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.5691996812820435, -0.09098191559314728, 1.5817883014678955, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8485923409461975, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5432593822479248, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.5691996812820435, -0.09098191559314728, 1.581406831741333, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8485923409461975, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5432593822479248, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.5691996812820435, -0.09136339277029037, 1.581406831741333, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8485923409461975, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5436408519744873, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.568818211555481, -0.09098191559314728, 1.5817883014678955, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8485923409461975, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5436408519744873, -0.0, 0.0, 0.8947508931159973, -0.1817730963230133, 0.046730753034353256, -1.568818211555481, -0.09136339277029037, 1.5817883014678955, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.848210871219635, -0.10967422276735306, 0.013160906732082367, 1.5093079805374146, 0.16308079659938812, -1.5440223217010498, -0.0, 0.0, 0.8951323628425598, -0.1817730963230133, 0.046730753034353256, -1.568818211555481, -0.09136339277029037, 1.5817883014678955, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000043/meta.json b/rc-table30-v2__rc-dos-w1/000043/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..50cfc23cf6a1cf535204932d950cfc2e8529f66a
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000043/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Remove the laces from the shoes, then place them on the table.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 8958,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000043/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000043/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..0684222b1bbd39bc892df4f187441af9c961a9dc
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000043/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000043/temporal.json b/rc-table30-v2__rc-dos-w1/000043/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..994f63b4348cdab0fa978c4547128fa076e9fccd
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000043/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12989242374897003, 1.722934365272522, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14591439068317413, -0.07495994865894318, -1.6313802003860474, -0.12951095402240753, 1.722934365272522, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12951095402240753, 1.722934365272522, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12989242374897003, 1.722934365272522, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6313802003860474, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12951095402240753, 1.72255277633667, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12951095402240753, 1.7221713066101074, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6309987306594849, -0.12989242374897003, 1.7206454277038574, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.649309515953064, -0.0, 0.0, 0.8047226667404175, 0.14591439068317413, -0.07495994865894318, -1.6313802003860474, -0.12951095402240753, 1.72102689743042, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12951095402240753, 1.72102689743042, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6309987306594849, -0.12989242374897003, 1.72102689743042, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6309987306594849, -0.12989242374897003, 1.72102689743042, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6309987306594849, -0.12951095402240753, 1.7214083671569824, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6309987306594849, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6309987306594849, -0.12989242374897003, 1.72255277633667, -6.416223186533898e-05, 6.416223186533898e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6313802003860474, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12989242374897003, 1.7233158349990845, -0.013286549597978592, 0.013286549597978592], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6325246095657349, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6309987306594849, -0.12951095402240753, 1.7233158349990845, -0.025108153000473976, 0.025108153000473976], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8703364729881287, 0.09937438368797302, -0.08106355369091034, 1.6371023654937744, 0.15812161564826965, -1.6489280462265015, -0.0, 0.0, 0.8047226667404175, 0.14629587531089783, -0.07495994865894318, -1.6309987306594849, -0.12951095402240753, 1.7206454277038574, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8714808821678162, 0.09937438368797302, -0.08106355369091034, 1.643587350845337, 0.15812161564826965, -1.648546576499939, -0.0041101002134382725, 0.0041101002134382725, 0.805867075920105, 0.14629587531089783, -0.07495994865894318, -1.6309987306594849, -0.12951095402240753, 1.7206454277038574, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8733882904052734, 0.09937438368797302, -0.08106355369091034, 1.6504539251327515, 0.15812161564826965, -1.6489280462265015, -0.02706073597073555, 0.02706073597073555, 0.80663001537323, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12874799966812134, 1.72102689743042, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8733882904052734, 0.09937438368797302, -0.08106355369091034, 1.6504539251327515, 0.15812161564826965, -1.6489280462265015, -0.034, 0.034, 0.80663001537323, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12836651504039764, 1.72102689743042, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8733882904052734, 0.09937438368797302, -0.08106355369091034, 1.6504539251327515, 0.15812161564826965, -1.6489280462265015, -0.034, 0.034, 0.80663001537323, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12836651504039764, 1.72102689743042, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8669031858444214, 0.09746700525283813, -0.07991912961006165, 1.639772653579712, 0.15812161564826965, -1.6489280462265015, -0.034, 0.034, 0.80663001537323, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12836651504039764, 1.72102689743042, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.09670405089855194, -0.06542305648326874, 1.6229877471923828, 0.1501106321811676, -1.649309515953064, -0.034, 0.034, 0.80663001537323, 0.14629587531089783, -0.07495994865894318, -1.6309987306594849, -0.12798504531383514, 1.72102689743042, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80510413646698, 0.09670405089855194, -0.01430533267557621, 1.6004806756973267, 0.11348897218704224, -1.650072455406189, -0.034, 0.034, 0.80663001537323, 0.14591439068317413, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.721789836883545, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7230868935585022, 0.09708552807569504, 0.0711451917886734, 1.5627145767211914, 0.02040894143283367, -1.655794620513916, -0.034, 0.034, 0.80663001537323, 0.14591439068317413, -0.07495994865894318, -1.6309987306594849, -0.12798504531383514, 1.7233158349990845, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6067368388175964, 0.09708552807569504, 0.17528800666332245, 1.5310521125793457, -0.13942931592464447, -1.6882200241088867, -0.034, 0.034, 0.8070115447044373, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.722934365272522, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4728389382362366, 0.09708552807569504, 0.2771419882774353, 1.5280003547668457, -0.3274967670440674, -1.7710002660751343, -0.034, 0.034, 0.8070115447044373, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.722934365272522, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.32940414547920227, 0.09708552807569504, 0.36335545778274536, 1.559281349182129, -0.5167086124420166, -1.9110018014907837, -0.034, 0.034, 0.8070115447044373, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.722934365272522, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20466163754463196, 0.09708552807569504, 0.41561761498451233, 1.589417815208435, -0.6807430982589722, -2.035362720489502, -0.034, 0.034, 0.8070115447044373, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.72255277633667, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09784847497940063, 0.09021896868944168, 0.44079500436782837, 1.6092545986175537, -0.840199887752533, -2.1429388523101807, -0.034, 0.034, 0.8089188933372498, 0.14591439068317413, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.72255277633667, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.029182879254221916, 0.07801175117492676, 0.44651713967323303, 1.6237506866455078, -0.9813458323478699, -2.2283895015716553, -0.034, 0.034, 0.8089188933372498, 0.14629587531089783, -0.07495994865894318, -1.6309987306594849, -0.12798504531383514, 1.7206454277038574, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.006294346414506435, 0.06694895774126053, 0.4373617172241211, 1.649309515953064, -1.0809109210968018, -2.2894256114959717, -0.034, 0.034, 0.8089188933372498, 0.14591439068317413, -0.07495994865894318, -1.6309987306594849, -0.12798504531383514, 1.7206454277038574, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.026512550190091133, 0.05436026677489281, 0.41676202416419983, 1.6882200241088867, -1.1552987098693848, -2.3401618003845215, -0.034, 0.034, 0.8089188933372498, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.7206454277038574, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03604944050312042, 0.03528648987412453, 0.39501792192459106, 1.72255277633667, -1.191157341003418, -2.378690719604492, -0.034, 0.034, 0.8089188933372498, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.7206454277038574, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04291599988937378, -0.0032425422687083483, 0.38090333342552185, 1.7603188753128052, -1.201838731765747, -2.417982816696167, -0.034, 0.034, 0.8089188933372498, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12760357558727264, 1.7206454277038574, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.046730753034353256, -0.07038223743438721, 0.3778515160083771, 1.7809185981750488, -1.1964980363845825, -2.443922996520996, -0.034, 0.034, 0.8093003630638123, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.7206454277038574, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05893797054886818, -0.16231784224510193, 0.38242924213409424, 1.7843518257141113, -1.185053825378418, -2.4507896900177, -0.034, 0.034, 0.8104447722434998, 0.14591439068317413, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.7206454277038574, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10814831405878067, -0.2573052644729614, 0.3889143168926239, 1.7633707523345947, -1.1640726327896118, -2.424086332321167, -0.034, 0.034, 0.8127336502075195, 0.14591439068317413, -0.07495994865894318, -1.6313802003860474, -0.12760357558727264, 1.720263957977295, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2141985148191452, -0.3389410376548767, 0.3915846347808838, 1.6859312057495117, -1.1293584108352661, -2.343595027923584, -0.034, 0.034, 0.8127336502075195, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.720263957977295, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.34809643030166626, -0.4053177833557129, 0.3881513774394989, 1.564621925354004, -1.098077416419983, -2.221522808074951, -0.033446796238422394, 0.033446796238422394, 0.8127336502075195, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.7198824882507324, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4488059878349304, -0.4682612419128418, 0.3843366205692291, 1.4597162008285522, -1.0782406330108643, -2.111276388168335, -0.032480575144290924, 0.032480575144290924, 0.8127336502075195, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.71950101852417, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.5041199326515198, -0.5178530812263489, 0.38357365131378174, 1.403639316558838, -1.0576409101486206, -2.042992353439331, -0.0323898009955883, 0.0323898009955883, 0.8127336502075195, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.7191195487976074, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.5327305793762207, -0.5563820600509644, 0.38357365131378174, 1.3696879148483276, -1.0320820808410645, -2.0033187866210938, -0.03005731850862503, 0.03005731850862503, 0.8127336502075195, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.7168307304382324, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.5445563197135925, -0.5891889929771423, 0.3847180902957916, 1.343747615814209, -1.0088120698928833, -1.97661554813385, -0.02462579309940338, 0.02462579309940338, 0.8127336502075195, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.7168307304382324, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.5422675013542175, -0.620088517665863, 0.3854810297489166, 1.3273441791534424, -0.9901197552680969, -1.958304762840271, -0.02173493802547455, 0.02173493802547455, 0.8127336502075195, 0.14629587531089783, -0.07495994865894318, -1.6309987306594849, -0.12798504531383514, 1.7168307304382324, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.5243381261825562, -0.6589990258216858, 0.3866254687309265, 1.3246738910675049, -0.9740977883338928, -1.9426642656326294, -0.015411683358252048, 0.015411683358252048, 0.8127336502075195, 0.14591439068317413, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.7168307304382324, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.5102235674858093, -0.6921873688697815, 0.3927290737628937, 1.3277256488800049, -0.9683756828308105, -1.9254977703094482, -0.007450856268405914, 0.007450856268405914, 0.8127336502075195, 0.14591439068317413, -0.07495994865894318, -1.6309987306594849, -0.12798504531383514, 1.7168307304382324, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.49305713176727295, -0.7043945789337158, 0.4064621925354004, 1.3033112287521362, -0.9725719094276428, -1.9018462896347046, -0.002597047481685877, 0.002597047481685877, 0.8127336502075195, 0.14591439068317413, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.7168307304382324, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.4526207447052002, -0.6857023239135742, 0.44804301857948303, 1.3097963333129883, -0.9573128819465637, -1.880865216255188, -0.002625878434628248, 0.002625878434628248, 0.8127336502075195, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12760357558727264, 1.7168307304382324, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.3702220320701599, -0.6635767221450806, 0.4987792670726776, 1.343747615814209, -0.9626535177230835, -1.8640803098678589, -0.002625878434628248, 0.002625878434628248, 0.8127336502075195, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12798504531383514, 1.7168307304382324, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.2447165697813034, -0.6445029377937317, 0.5460822582244873, 1.3784618377685547, -0.9645609259605408, -1.8533989191055298, -0.0026210667565464973, 0.0026210667565464973, 0.8127336502075195, 0.14629587531089783, -0.07495994865894318, -1.6313802003860474, -0.12760357558727264, 1.7168307304382324, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09250781685113907, -0.6322957277297974, 0.576981782913208, 1.4246203899383545, -0.9485389590263367, -1.8492027521133423, -0.0026210667565464973, 0.0026210667565464973, 0.813878059387207, 0.14629587531089783, -0.07457847148180008, -1.6309987306594849, -0.12760357558727264, 1.7168307304382324, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06847485899925232, -0.6258106231689453, 0.5941481590270996, 1.4578088521957397, -0.9107728600502014, -1.8350881338119507, -0.0026210667565464973, 0.0026210667565464973, 0.8165484070777893, 0.14591439068317413, -0.05970092490315437, -1.6313802003860474, -0.11654078215360641, 1.7160677909851074, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.19398032128810883, -0.622377336025238, 0.6006332635879517, 1.517700433731079, -0.8630884289741516, -1.8198291063308716, -0.0026210667565464973, 0.0026210667565464973, 0.8237964510917664, 0.14591439068317413, -0.00858320016413927, -1.6309987306594849, -0.07305257022380829, 1.7122529745101929, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28744181990623474, -0.620851457118988, 0.5991073250770569, 1.5394445657730103, -0.7967116832733154, -1.809147834777832, -0.0026210667565464973, 0.0026210667565464973, 0.8276112079620361, 0.14629587531089783, 0.06237125024199486, -1.6309987306594849, 0.012397955171763897, 1.7145417928695679, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3427557647228241, -0.6288624405860901, 0.5899519324302673, 1.5569924116134644, -0.726138710975647, -1.7980849742889404, -0.0026210667565464973, 0.0026210667565464973, 0.8276112079620361, 0.14591439068317413, 0.12226291000843048, -1.6309987306594849, 0.1199740618467331, 1.7519264221191406, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3858625292778015, -0.6586175560951233, 0.5846112966537476, 1.563096046447754, -0.654421329498291, -1.7862592935562134, -0.0026210667565464973, 0.0026210667565464973, 0.8360036611557007, 0.12912946939468384, 0.17223620414733887, -1.6309987306594849, 0.22182802855968475, 1.8125810623168945, -0.03336801007390022, 0.03336801007390022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41371023654937744, -0.7120240926742554, 0.5918593406677246, 1.563858985900879, -0.6116960644721985, -1.7694742679595947, -0.0026210667565464973, 0.0026210667565464973, 0.8428702354431152, 0.027656977996230125, 0.2470054179430008, -1.6309987306594849, 0.3389410376548767, 1.8636988401412964, -0.03269369527697563, 0.03269369527697563], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4373617172241211, -0.7734416723251343, 0.6116960644721985, 1.569581151008606, -0.5895704627037048, -1.7336156368255615, -0.0026210667565464973, 0.0026210667565464973, 0.8546959757804871, -0.1665140837430954, 0.36640727519989014, -1.6306172609329224, 0.4873350262641907, 1.8820096254348755, -0.03269369527697563, 0.03269369527697563], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4682612419128418, -0.8302815556526184, 0.6418325901031494, 1.576066255569458, -0.5746929049491882, -1.7061493396759033, -0.0026210667565464973, 0.0026210667565464973, 0.8527885675430298, -0.3755626678466797, 0.5159456729888916, -1.6306172609329224, 0.6212329268455505, 1.8705652952194214, -0.03269369527697563, 0.03269369527697563], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4983977973461151, -0.8787289261817932, 0.6765468716621399, 1.6203173398971558, -0.5708781480789185, -1.7004272937774658, -0.0026210667565464973, 0.0026210667565464973, 0.8413442969322205, -0.5304417610168457, 0.6631952524185181, -1.6306172609329224, 0.6979095339775085, 1.8667505979537964, -0.031702060252428055, 0.031702060252428055], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5495155453681946, -0.916113555431366, 0.7143129706382751, 1.7038605213165283, -0.576218843460083, -1.745822787284851, -0.0026210667565464973, 0.0026210667565464973, 0.8230335116386414, -0.6353475451469421, 0.7791637778282166, -1.6149767637252808, 0.734912633895874, 1.8812466859817505, -0.030093219131231308, 0.030093219131231308], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6231403350830078, -0.9439612627029419, 0.7551308274269104, 1.8339437246322632, -0.6002517938613892, -1.8362325429916382, -0.0026162576396018267, 0.0026162576396018267, 0.8070115447044373, -0.7043945789337158, 0.8455405235290527, -1.595139980316162, 0.7398717999458313, 1.9300755262374878, -0.02981403097510338, 0.02981403097510338], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.692568838596344, -0.9767681360244751, 0.8001449704170227, 1.962119460105896, -0.6589990258216858, -1.9163423776626587, -0.0026162576396018267, 0.0026162576396018267, 0.7970931529998779, -0.7566567659378052, 0.8791103959083557, -1.578355073928833, 0.7410162687301636, 1.9808118343353271, -0.02981403097510338, 0.02981403097510338], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7375829815864563, -1.0118639469146729, 0.8413442969322205, 2.042229413986206, -0.7207980751991272, -1.966315746307373, -0.0026210667565464973, 0.0026210667565464973, 0.7948042750358582, -0.7970931529998779, 0.8978027105331421, -1.570344090461731, 0.7394903302192688, 2.0128557682037354, -0.02981403097510338, 0.02981403097510338], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7566567659378052, -1.0370413064956665, 0.8669031858444214, 2.0887694358825684, -0.7719157934188843, -1.9937819242477417, -0.0026210667565464973, 0.0026210667565464973, 0.7856488823890686, -0.8382925391197205, 0.9115357995033264, -1.5527962446212769, 0.734149694442749, 2.0250630378723145, -0.02980498969554901, 0.02980498969554901], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7574197053909302, -1.0503928661346436, 0.8806362748146057, 2.1101319789886475, -0.8005264401435852, -2.0120928287506104, -0.0026162576396018267, 0.0026162576396018267, 0.7162203192710876, -0.8859769701957703, 0.916113555431366, -1.3838025331497192, 0.7467383742332458, 1.897650122642517, -0.029350079596042633, 0.029350079596042633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7520790696144104, -1.0576409101486206, 0.8882657885551453, 2.114328145980835, -0.8314259648323059, -2.0212481021881104, -0.0026210667565464973, 0.0026210667565464973, 0.5991073250770569, -0.9439612627029419, 0.9103913903236389, -1.0851072072982788, 0.8077744841575623, 1.6859312057495117, -0.02861141785979271, 0.02861141785979271], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7467383742332458, -1.0599298477172852, 0.8943694233894348, 2.1139466762542725, -0.8562218546867371, -2.027733325958252, -0.0026162576396018267, 0.0026162576396018267, 0.482375830411911, -0.9885938763618469, 0.9016174674034119, -0.8203631639480591, 0.8573662638664246, 1.4909971952438354, -0.028378035873174667, 0.028378035873174667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7467383742332458, -1.0606927871704102, 0.9035248160362244, 2.1078431606292725, -0.8695735335350037, -2.0311665534973145, -0.0026162576396018267, 0.0026162576396018267, 0.4343098998069763, -1.0126268863677979, 0.889028787612915, -0.6586175560951233, 0.9004730582237244, 1.3742656707763672, -0.027376292273402214, 0.027376292273402214], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7551308274269104, -1.0614557266235352, 0.9149690866470337, 2.099832057952881, -0.8821622133255005, -2.039177656173706, -0.0026162576396018267, 0.0026162576396018267, 0.43087664246559143, -1.0282673835754395, 0.8764400482177734, -0.5651560425758362, 0.9012359976768494, 1.3082703351974487, -0.025186708196997643, 0.025186708196997643], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7715343236923218, -1.0614557266235352, 0.9283207654953003, 2.093728542327881, -0.8978027105331421, -2.052147626876831, -0.0026162576396018267, 0.0026162576396018267, 0.4518577754497528, -1.0442893505096436, 0.8684290647506714, -0.5121309161186218, 0.8844510316848755, 1.269741415977478, -0.02370557002723217, 0.02370557002723217], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7890821695327759, -1.0614557266235352, 0.9397650361061096, 2.090676784515381, -0.9126802682876587, -2.0662622451782227, -0.0026210667565464973, 0.0026210667565464973, 0.47589075565338135, -1.0618371963500977, 0.8630884289741516, -0.483138769865036, 0.8714808821678162, 1.2464714050292969, -0.02227306365966797, 0.02227306365966797], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.80510413646698, -1.0614557266235352, 0.9485389590263367, 2.086862087249756, -0.925650417804718, -2.0765621662139893, -0.0026162576396018267, 0.0026162576396018267, 0.49343863129615784, -1.0748074054718018, 0.8581292629241943, -0.4655908942222595, 0.8539330363273621, 1.2285419702529907, -0.020928218960762024, 0.020928218960762024], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8154039978981018, -1.0614557266235352, 0.9546425342559814, 2.0803768634796143, -0.9328984618186951, -2.0838100910186768, -0.0026162576396018267, 0.0026162576396018267, 0.5136567950248718, -1.0824369192123413, 0.8543145060539246, -0.4541466534137726, 0.840962827205658, 1.2205309867858887, -0.020460883155465126, 0.020460883155465126], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8234149813652039, -1.0614557266235352, 0.9580758213996887, 2.0761806964874268, -0.9451056718826294, -2.0880064964294434, -0.0026162576396018267, 0.0026162576396018267, 0.5266270041465759, -1.0870145559310913, 0.8520256280899048, -0.4503318965435028, 0.8230335116386414, 1.2102311849594116, -0.019509457051753998, 0.019509457051753998], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8268482685089111, -1.0591669082641602, 0.9596017599105835, 2.0727474689483643, -0.9584572911262512, -2.091439723968506, -0.0026162576396018267, 0.0026162576396018267, 0.536926805973053, -1.0908293724060059, 0.8504997491836548, -0.44575417041778564, 0.805867075920105, 1.203364610671997, -0.018289992585778236, 0.018289992585778236], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8302815556526184, -1.054970622062683, 0.9573128819465637, 2.0712215900421143, -0.967231273651123, -2.096780300140381, -0.0026162576396018267, 0.0026162576396018267, 0.5457007884979248, -1.0954070091247559, 0.8504997491836548, -0.44384679198265076, 0.7951858043670654, 1.2029831409454346, -0.018289992585778236, 0.018289992585778236], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8325703740119934, -1.050011396408081, 0.954261064529419, 2.0677881240844727, -0.9721904397010803, -2.1032655239105225, -0.0026162576396018267, 0.0026162576396018267, 0.5540932416915894, -1.0999847650527954, 0.8504997491836548, -0.44384679198265076, 0.7875562906265259, 1.202601671218872, -0.018289992585778236, 0.018289992585778236], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8340963125228882, -1.0450522899627686, 0.9504463076591492, 2.0647363662719727, -0.9752422571182251, -2.10746169090271, -0.0026162576396018267, 0.0026162576396018267, 0.5628671646118164, -1.102655053138733, 0.8501182794570923, -0.44346532225608826, 0.7829785346984863, 1.2022202014923096, -0.018289992585778236, 0.018289992585778236], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8344777822494507, -1.039711594581604, 0.9477760195732117, 2.0632104873657227, -0.9767681360244751, -2.1147096157073975, -0.0026162576396018267, 0.0026162576396018267, 0.5701152086257935, -1.1037994623184204, 0.8501182794570923, -0.44079500436782837, 0.7719157934188843, 1.201838731765747, -0.018250884488224983, 0.018250884488224983], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8356221914291382, -1.035896897315979, 0.9462500810623169, 2.06130313873291, -0.9775310754776001, -2.1215763092041016, -0.0026162576396018267, 0.0026162576396018267, 0.5773632526397705, -1.1053253412246704, 0.8501182794570923, -0.44079500436782837, 0.7574197053909302, 1.2029831409454346, -0.016462143510580063, 0.016462143510580063], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8371480703353882, -1.033226490020752, 0.9466315507888794, 2.05977725982666, -0.9771496057510376, -2.1253910064697266, -0.0026162576396018267, 0.0026162576396018267, 0.5849927663803101, -1.107614278793335, 0.8501182794570923, -0.44079500436782837, 0.7406347990036011, 1.2151904106140137, -0.01465810276567936, 0.01465810276567936], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -1.029411792755127, 0.9481574892997742, 2.0601587295532227, -0.9771496057510376, -2.1284427642822266, -0.0026162576396018267, 0.0026162576396018267, 0.5865186452865601, -1.1110475063323975, 0.8497368097305298, -0.44117647409439087, 0.728427529335022, 1.2235828638076782, -0.013807951472699642, 0.013807951472699642], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8398184180259705, -1.0263599157333374, 0.9489204287528992, 2.060540199279785, -0.9771496057510376, -2.130350112915039, -0.0026162576396018267, 0.0026162576396018267, 0.5869001150131226, -1.1152437925338745, 0.8485923409461975, -0.44117647409439087, 0.7162203192710876, 1.2422751188278198, -0.013717557303607464, 0.013717557303607464], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8421072959899902, -1.022926688194275, 0.9493018984794617, 2.05977725982666, -0.9771496057510376, -2.1330206394195557, -0.0026162576396018267, 0.0026162576396018267, 0.5918593406677246, -1.117914080619812, 0.8485923409461975, -0.44117647409439087, 0.700579822063446, 1.2510490417480469, -0.011141798458993435, 0.011141798458993435], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -1.0217822790145874, 0.9504463076591492, 2.0601587295532227, -0.9779125452041626, -2.1360723972320557, -0.0026162576396018267, 0.0026162576396018267, 0.5960555672645569, -1.1198214292526245, 0.848210871219635, -0.44117647409439087, 0.6826505064964294, 1.2651636600494385, -0.0075998203828930855, 0.0075998203828930855], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8451590538024902, -1.0206378698349, 0.951209306716919, 2.05977725982666, -0.9775310754776001, -2.135690927505493, -0.0026162576396018267, 0.0026162576396018267, 0.5964370369911194, -1.1205843687057495, 0.848210871219635, -0.44117647409439087, 0.6658655405044556, 1.272793173789978, -0.0019147845450788736, 0.0019147845450788736], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -1.0187304019927979, 0.9515907764434814, 2.05977725982666, -0.9779125452041626, -2.135690927505493, -0.0026162576396018267, 0.0026162576396018267, 0.5884260535240173, -1.1205843687057495, 0.848210871219635, -0.44117647409439087, 0.6597619652748108, 1.2747005224227905, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -1.0168230533599854, 0.9515907764434814, 2.0609216690063477, -0.9805828928947449, -2.135690927505493, -0.0026162576396018267, 0.0026162576396018267, 0.5685893297195435, -1.1205843687057495, 0.848210871219635, -0.44155794382095337, 0.6589990258216858, 1.275844931602478, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -1.0160601139068604, 0.9500648379325867, 2.0624475479125977, -0.9824903011322021, -2.134165048599243, -0.0026162576396018267, 0.0026162576396018267, 0.5403600931167603, -1.1137179136276245, 0.8478294014930725, -0.44193941354751587, 0.6593804955482483, 1.283092975616455, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -1.0152971744537354, 0.9489204287528992, 2.0647363662719727, -0.9843976497650146, -2.131875991821289, -0.0026162576396018267, 0.0026162576396018267, 0.5132753252983093, -1.099603295326233, 0.8478294014930725, -0.44193941354751587, 0.6597619652748108, 1.2991149425506592, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -1.0156786441802979, 0.9473945498466492, 2.0647363662719727, -0.9843976497650146, -2.131875991821289, -0.0026162576396018267, 0.0026162576396018267, 0.4964904189109802, -1.0858701467514038, 0.8478294014930725, -0.44155794382095337, 0.6483176946640015, 1.3136110305786133, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -1.0152971744537354, 0.9454871416091919, 2.065117835998535, -0.9847791194915771, -2.131875991821289, -0.0026162576396018267, 0.0026162576396018267, 0.4968718886375427, -1.0790035724639893, 0.8478294014930725, -0.44193941354751587, 0.6376363635063171, 1.3235293626785278, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -1.0152971744537354, 0.9451056718826294, 2.0647363662719727, -0.9851605892181396, -2.1284427642822266, -0.0026162576396018267, 0.0026162576396018267, 0.5136567950248718, -1.0763332843780518, 0.8463035225868225, -0.44193941354751587, 0.6303883194923401, 1.3277256488800049, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -1.0152971744537354, 0.9447242021560669, 2.065117835998535, -0.9859235286712646, -2.1292057037353516, -0.0026162576396018267, 0.0026162576396018267, 0.535400927066803, -1.0748074054718018, 0.8451590538024902, -0.44155794382095337, 0.6265735626220703, 1.3284885883331299, -0.00019910182163584977, 0.00019910182163584977], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8443961143493652, -1.0152971744537354, 0.9454871416091919, 2.065117835998535, -0.9863049983978271, -2.1322574615478516, -0.0026162576396018267, 0.0026162576396018267, 0.5567635893821716, -1.0736628770828247, 0.840962827205658, -0.44155794382095337, 0.621614396572113, 1.335736632347107, -0.001241879304870963, 0.001241879304870963], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8424887657165527, -1.0152971744537354, 0.9481574892997742, 2.065117835998535, -0.9870679974555969, -2.1330206394195557, -0.0026162576396018267, 0.0026162576396018267, 0.5750743746757507, -1.0736628770828247, 0.8329518437385559, -0.44155794382095337, 0.6204699873924255, 1.339551329612732, -0.0069016460329294205, 0.0069016460329294205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840962827205658, -1.0152971744537354, 0.9504463076591492, 2.065117835998535, -0.9874494671821594, -2.134165048599243, -0.0026162576396018267, 0.0026162576396018267, 0.5888075232505798, -1.0736628770828247, 0.8230335116386414, -0.44193941354751587, 0.6219958662986755, 1.3471808433532715, -0.009118803776800632, 0.009118803776800632], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.838674008846283, -1.0156786441802979, 0.9523537158966064, 2.065117835998535, -0.9874494671821594, -2.135690927505493, -0.0026162576396018267, 0.0026162576396018267, 0.5994887948036194, -1.0736628770828247, 0.8161669373512268, -0.44155794382095337, 0.6246662139892578, 1.353284478187561, -0.009885679930448532, 0.009885679930448532], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.838674008846283, -1.0152971744537354, 0.953498125076294, 2.0654993057250977, -0.9874494671821594, -2.1353094577789307, -0.0026162576396018267, 0.0026162576396018267, 0.6105515956878662, -1.0736628770828247, 0.8119707107543945, -0.44193941354751587, 0.6254291534423828, 1.353284478187561, -0.0097191808745265, 0.0097191808745265], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.838674008846283, -1.0152971744537354, 0.9546425342559814, 2.0654993057250977, -0.9866865277290344, -2.1353094577789307, -0.0026162576396018267, 0.0026162576396018267, 0.6174181699752808, -1.0732814073562622, 0.8100633025169373, -0.44193941354751587, 0.6292439103126526, 1.353284478187561, -0.0018443011213093996, 0.0018443011213093996], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -1.0152971744537354, 0.9546425342559814, 2.0654993057250977, -0.9859235286712646, -2.131875991821289, -0.0026162576396018267, 0.0026162576396018267, 0.6139848828315735, -1.0732814073562622, 0.8093003630638123, -0.44193941354751587, 0.6296253800392151, 1.3536659479141235, -0.00024024638696573675, 0.00024024638696573675], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.838674008846283, -1.0152971744537354, 0.9546425342559814, 2.065117835998535, -0.9866865277290344, -2.128061294555664, -0.0026162576396018267, 0.0026162576396018267, 0.5865186452865601, -1.0725184679031372, 0.8203631639480591, -0.44270238280296326, 0.6383993029594421, 1.3616769313812256, -0.00024024638696573675, 0.00024024638696573675], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.838674008846283, -1.0149157047271729, 0.9546425342559814, 2.0647363662719727, -0.9885938763618469, -2.1215763092041016, -0.0026162576396018267, 0.0026162576396018267, 0.54264897108078, -1.0709925889968872, 0.8470664620399475, -0.44346532225608826, 0.6498435735702515, 1.3735027313232422, -0.00024024638696573675, 0.00024024638696573675], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.839436948299408, -1.0145342350006104, 0.9538795948028564, 2.0647363662719727, -0.9916456937789917, -2.1208133697509766, -0.0026162576396018267, 0.0026162576396018267, 0.5086976289749146, -1.0694667100906372, 0.8707179427146912, -0.44193941354751587, 0.6536583304405212, 1.3902876377105713, -0.00024024638696573675, 0.00024024638696573675], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -1.0141527652740479, 0.953498125076294, 2.0647363662719727, -0.9924086332321167, -2.119668960571289, -0.0026162576396018267, 0.0026162576396018267, 0.5041199326515198, -1.0694667100906372, 0.881017804145813, -0.44155794382095337, 0.6517509818077087, 1.405928134918213, -0.00024024638696573675, 0.00024024638696573675], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -1.0141527652740479, 0.951972246170044, 2.0647363662719727, -0.9924086332321167, -2.1169984340667725, -0.0026162576396018267, 0.0026162576396018267, 0.5205233693122864, -1.0694667100906372, 0.8783474564552307, -0.44155794382095337, 0.6425955891609192, 1.4105058908462524, -0.00024024638696573675, 0.00024024638696573675], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -1.0141527652740479, 0.951972246170044, 2.0647363662719727, -0.9920271635055542, -2.1169984340667725, -0.0026162576396018267, 0.0026162576396018267, 0.5407415628433228, -1.0694667100906372, 0.8676661252975464, -0.44155794382095337, 0.6342030763626099, 1.4143205881118774, -0.0014261772157624364, 0.0014261772157624364], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8413442969322205, -1.0141527652740479, 0.9538795948028564, 2.0647363662719727, -0.9916456937789917, -2.1169984340667725, -0.0026162576396018267, 0.0026162576396018267, 0.5601968169212341, -1.0694667100906372, 0.8531700372695923, -0.44155794382095337, 0.6307697892189026, 1.415464997291565, -0.006772197782993317, 0.006772197782993317], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.841725766658783, -1.0141527652740479, 0.9573128819465637, 2.0647363662719727, -0.9912642240524292, -2.1169984340667725, -0.0026162576396018267, 0.0026162576396018267, 0.580033540725708, -1.0694667100906372, 0.8390554785728455, -0.44155794382095337, 0.6277180314064026, 1.418135404586792, -0.007635472342371941, 0.007635472342371941], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -1.0141527652740479, 0.959983229637146, 2.0647363662719727, -0.9901197552680969, -2.1169984340667725, -0.0026162576396018267, 0.0026162576396018267, 0.6006332635879517, -1.0694667100906372, 0.8299000263214111, -0.44193941354751587, 0.6269550919532776, 1.41775381565094, -0.008445000275969505, 0.008445000275969505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8443961143493652, -1.0141527652740479, 0.962272047996521, 2.063591957092285, -0.9885938763618469, -2.1169984340667725, -0.0026162576396018267, 0.0026162576396018267, 0.6185625791549683, -1.0694667100906372, 0.8245593905448914, -0.44193941354751587, 0.6265735626220703, 1.4166094064712524, -0.00840036105364561, 0.00840036105364561], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8455405235290527, -1.0130083560943604, 0.9630350470542908, 2.06130313873291, -0.9885938763618469, -2.1169984340667725, -0.0026162576396018267, 0.0026162576396018267, 0.6277180314064026, -1.0694667100906372, 0.8203631639480591, -0.44193941354751587, 0.6261920928955078, 1.41317617893219, -0.0014552772045135498, 0.0014552772045135498], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.846684992313385, -1.0095750093460083, 0.9634165167808533, 2.060540199279785, -0.9893568158149719, -2.1169984340667725, -0.0026162576396018267, 0.0026162576396018267, 0.6273365616798401, -1.0694667100906372, 0.8192187547683716, -0.44193941354751587, 0.6246662139892578, 1.409742832183838, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8470664620399475, -1.0015640258789062, 0.9603646993637085, 2.0601587295532227, -0.9916456937789917, -2.1169984340667725, -0.00261145131662488, 0.00261145131662488, 0.5945296287536621, -1.0694667100906372, 0.8337147831916809, -0.44193941354751587, 0.6410696506500244, 1.4127947092056274, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8470664620399475, -0.9885938763618469, 0.9504463076591492, 2.05977725982666, -0.9916456937789917, -2.1162354946136475, -0.0026162576396018267, 0.0026162576396018267, 0.5334935784339905, -1.0694667100906372, 0.8642328381538391, -0.44384679198265076, 0.6631952524185181, 1.4253833293914795, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8470664620399475, -0.9729533791542053, 0.9382390975952148, 2.0601587295532227, -0.9874494671821594, -2.1131837368011475, -0.0026162576396018267, 0.0026162576396018267, 0.4701686203479767, -1.0690852403640747, 0.8955138325691223, -0.44270238280296326, 0.6818875670433044, 1.4486533403396606, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8470664620399475, -0.9618905782699585, 0.9290837049484253, 2.0601587295532227, -0.9836347103118896, -2.1055543422698975, -0.00261145131662488, 0.00261145131662488, 0.42591744661331177, -1.0690852403640747, 0.9145876169204712, -0.44193941354751587, 0.6830319762229919, 1.4787899255752563, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.9554055333137512, 0.9225986003875732, 2.0571069717407227, -0.9840161800384521, -2.0941100120544434, -0.00261145131662488, 0.00261145131662488, 0.41294726729393005, -1.0690852403640747, 0.9233615398406982, -0.44117647409439087, 0.6795986890792847, 1.496337890625, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8524070978164673, -0.9504463076591492, 0.919165313243866, 2.055962562561035, -0.9828717708587646, -2.0780880451202393, -0.00261145131662488, 0.00261145131662488, 0.39501792192459106, -1.0690852403640747, 0.9279392957687378, -0.44155794382095337, 0.657473087310791, 1.516174554824829, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8573662638664246, -0.9454871416091919, 0.9153505563735962, 2.0532920360565186, -0.9836347103118896, -2.0578699111938477, -0.00261145131662488, 0.00261145131662488, 0.36488136649131775, -1.0690852403640747, 0.9298466444015503, -0.44155794382095337, 0.6414511203765869, 1.5474555492401123, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8604180812835693, -0.9409094452857971, 0.9119172692298889, 2.0532920360565186, -0.9832532405853271, -2.044518232345581, -0.00261145131662488, 0.00261145131662488, 0.3423742949962616, -1.0690852403640747, 0.9309910535812378, -0.44117647409439087, 0.6345845460891724, 1.591325283050537, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8627069592475891, -0.9393835067749023, 0.9096284508705139, 2.0540549755096436, -0.9840161800384521, -2.037651538848877, -0.00261145131662488, 0.00261145131662488, 0.33665215969085693, -1.0690852403640747, 0.9309910535812378, -0.44117647409439087, 0.6273365616798401, 1.6168841123580933, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8653773069381714, -0.9378576278686523, 0.9084840416908264, 2.053673505783081, -0.9824903011322021, -2.030022144317627, -0.00261145131662488, 0.00261145131662488, 0.34504464268684387, -1.0690852403640747, 0.9287022352218628, -0.44117647409439087, 0.6227588057518005, 1.639772653579712, -0.00030254150624386966, 0.00030254150624386966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8661402463912964, -0.9367132186889648, 0.9081025123596191, 2.0532920360565186, -0.9840161800384521, -2.026970386505127, -0.00261145131662488, 0.00261145131662488, 0.3557259440422058, -1.0690852403640747, 0.9260318875312805, -0.44155794382095337, 0.6197070479393005, 1.6496909856796265, -0.017967823892831802, 0.017967823892831802], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8661402463912964, -0.9359502792358398, 0.9092469811439514, 2.053673505783081, -0.9840161800384521, -2.026207447052002, -0.00261145131662488, 0.00261145131662488, 0.3606851398944855, -1.0690852403640747, 0.9245060086250305, -0.44155794382095337, 0.6219958662986755, 1.6531243324279785, -0.029350079596042633, 0.029350079596042633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8665217161178589, -0.9355688095092773, 0.9103913903236389, 2.0532920360565186, -0.9882124066352844, -2.0265889167785645, -0.00261145131662488, 0.00261145131662488, 0.34809643030166626, -1.0690852403640747, 0.9233615398406982, -0.44155794382095337, 0.6422140598297119, 1.6439688205718994, -0.029359230771660805, 0.029359230771660805], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8665217161178589, -0.9355688095092773, 0.9119172692298889, 2.0532920360565186, -0.995841920375824, -2.030785083770752, -0.00261145131662488, 0.00261145131662488, 0.31872281432151794, -1.0690852403640747, 0.9233615398406982, -0.44270238280296326, 0.6754024624824524, 1.6088731288909912, -0.028039969503879547, 0.028039969503879547], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8665217161178589, -0.9355688095092773, 0.9119172692298889, 2.0532920360565186, -1.0053788423538208, -2.034599781036377, -0.00261145131662488, 0.00261145131662488, 0.3061341345310211, -1.0679408311843872, 0.9233615398406982, -0.44422826170921326, 0.7440680265426636, 1.5501258373260498, -0.027747048065066338, 0.027747048065066338], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8665217161178589, -0.9355688095092773, 0.9130617380142212, 2.052910566329956, -1.0156786441802979, -2.0380330085754395, -0.00261145131662488, 0.00261145131662488, 0.31681543588638306, -1.0652704238891602, 0.9222171306610107, -0.44422826170921326, 0.8287556171417236, 1.4620050191879272, -0.0277375727891922, 0.0277375727891922], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8665217161178589, -0.9355688095092773, 0.9157320261001587, 2.052910566329956, -1.025978446006775, -2.039940595626831, -0.00261145131662488, 0.00261145131662488, 0.3538185656070709, -1.045433759689331, 0.9039062857627869, -0.44384679198265076, 0.9294651746749878, 1.3570992946624756, -0.02633783034980297, 0.02633783034980297], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8665217161178589, -0.9355688095092773, 0.9172579646110535, 2.052910566329956, -1.033989429473877, -2.041466474533081, -0.00261145131662488, 0.00261145131662488, 0.4007400572299957, -0.9927901029586792, 0.8535515666007996, -0.44232088327407837, 0.9733348488807678, 1.2796597480773926, -0.02306966856122017, 0.02306966856122017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8680475950241089, -0.9355688095092773, 0.918402373790741, 2.0532920360565186, -1.0378042459487915, -2.0426108837127686, -0.00261145131662488, 0.00261145131662488, 0.4358358085155487, -0.9325169920921326, 0.7963302135467529, -0.44346532225608826, 0.9714275002479553, 1.2396048307418823, -0.023059722036123276, 0.023059722036123276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8764400482177734, -0.9317540526390076, 0.9187838435173035, 2.0601587295532227, -1.040474534034729, -2.054436445236206, -0.00261145131662488, 0.00261145131662488, 0.4720759987831116, -0.8871213793754578, 0.7539864182472229, -0.44193941354751587, 0.961509108543396, 1.2163348197937012, -0.023059722036123276, 0.023059722036123276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.918402373790741, 0.9145876169204712, 2.0887694358825684, -1.0355154275894165, -2.0849545001983643, -0.00261145131662488, 0.00261145131662488, 0.5079346895217896, -0.8623254895210266, 0.7314793467521667, -0.44155794382095337, 0.9451056718826294, 1.202601671218872, -0.023059722036123276, 0.023059722036123276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9084840416908264, -0.8985656499862671, 0.9054322242736816, 2.1124207973480225, -1.0152971744537354, -2.1139466762542725, -0.00261145131662488, 0.00261145131662488, 0.5449378490447998, -0.84897381067276, 0.7200350761413574, -0.44155794382095337, 0.927176296710968, 1.19916832447052, -0.023059722036123276, 0.023059722036123276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9149690866470337, -0.8836880922317505, 0.8974212408065796, 2.125772476196289, -1.0030899047851562, -2.1314945220947266, -0.00261145131662488, 0.00261145131662488, 0.5754558444023132, -0.8424887657165527, 0.7139315009117126, -0.44117647409439087, 0.9016174674034119, 1.199549913406372, -0.023059722036123276, 0.023059722036123276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.918402373790741, -0.8745326995849609, 0.892080545425415, 2.128061294555664, -1.0011825561523438, -2.1437017917633057, -0.00261145131662488, 0.00261145131662488, 0.6017776727676392, -0.838674008846283, 0.7104982137680054, -0.44117647409439087, 0.8756771087646484, 1.2029831409454346, -0.023059722036123276, 0.023059722036123276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9214541912078857, -0.8695735335350037, 0.889028787612915, 2.120431900024414, -1.0015640258789062, -2.1444647312164307, -0.00261145131662488, 0.00261145131662488, 0.6177996397018433, -0.8367666006088257, 0.7085908055305481, -0.44117647409439087, 0.8554589152336121, 1.204890489578247, -0.023059722036123276, 0.023059722036123276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8665217161178589, 0.8871213793754578, 2.1093690395355225, -1.0027084350585938, -2.1444647312164307, -0.00261145131662488, 0.00261145131662488, 0.6204699873924255, -0.8360036611557007, 0.7078278660774231, -0.44117647409439087, 0.8356221914291382, 1.2193865776062012, -0.023059722036123276, 0.023059722036123276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8630884289741516, 0.8852140307426453, 2.1017396450042725, -1.0034713745117188, -2.1444647312164307, -0.00261145131662488, 0.00261145131662488, 0.6219958662986755, -0.8356221914291382, 0.7078278660774231, -0.44117647409439087, 0.8211261034011841, 1.2285419702529907, -0.023059722036123276, 0.023059722036123276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8592736721038818, 0.8829251527786255, 2.096017360687256, -1.0069047212600708, -2.144083261489868, -0.00261145131662488, 0.00261145131662488, 0.621614396572113, -0.8356221914291382, 0.7082093358039856, -0.44155794382095337, 0.7982375621795654, 1.2415121793746948, -0.023059722036123276, 0.023059722036123276], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8566033244132996, 0.8821622133255005, 2.092202663421631, -1.0069047212600708, -2.1437017917633057, -0.00261145131662488, 0.00261145131662488, 0.6254291534423828, -0.8356221914291382, 0.7085908055305481, -0.44155794382095337, 0.776493489742279, 1.2487602233886719, -0.02306966856122017, 0.02306966856122017], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8554589152336121, 0.881017804145813, 2.0880064964294434, -1.0072861909866333, -2.143320322036743, -0.00261145131662488, 0.00261145131662488, 0.6322957277297974, -0.8356221914291382, 0.7085908055305481, -0.44155794382095337, 0.7539864182472229, 1.256008267402649, -0.02307961694896221, 0.02307961694896221], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8546959757804871, 0.881017804145813, 2.0845730304718018, -1.0072861909866333, -2.1429388523101807, -0.00261145131662488, 0.00261145131662488, 0.6387808322906494, -0.8356221914291382, 0.7085908055305481, -0.44155794382095337, 0.7318608164787292, 1.257534146308899, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8539330363273621, 0.881017804145813, 2.0811398029327393, -1.0076676607131958, -2.141794443130493, -0.00261145131662488, 0.00261145131662488, 0.6445029377937317, -0.8371480703353882, 0.7085908055305481, -0.44117647409439087, 0.7166017889976501, 1.264019250869751, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9222171306610107, -0.8531700372695923, 0.881780743598938, 2.0792324542999268, -1.0095750093460083, -2.1398870944976807, -0.00261145131662488, 0.00261145131662488, 0.6513695120811462, -0.8432517051696777, 0.7085908055305481, -0.44117647409439087, 0.7070649266242981, 1.264782190322876, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9222171306610107, -0.8531700372695923, 0.8829251527786255, 2.0780880451202393, -1.0091935396194458, -2.1398870944976807, -0.00261145131662488, 0.00261145131662488, 0.6658655405044556, -0.8581292629241943, 0.7085908055305481, -0.44117647409439087, 0.6979095339775085, 1.2674524784088135, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9222171306610107, -0.8531700372695923, 0.883306622505188, 2.0754177570343018, -1.0095750093460083, -2.1398870944976807, -0.00261145131662488, 0.00261145131662488, 0.6860837936401367, -0.8772030472755432, 0.7097352743148804, -0.44155794382095337, 0.6940947771072388, 1.2674524784088135, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.8531700372695923, 0.8836880922317505, 2.0716030597686768, -1.0088120698928833, -2.1398870944976807, -0.00261145131662488, 0.00261145131662488, 0.7066834568977356, -0.8882657885551453, 0.7162203192710876, -0.44155794382095337, 0.6898985505104065, 1.267833948135376, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.8531700372695923, 0.8848325610160828, 2.068169593811035, -1.0065232515335083, -2.140268564224243, -0.00261145131662488, 0.00261145131662488, 0.7265201807022095, -0.8916990756988525, 0.7291905283927917, -0.44193941354751587, 0.6898985505104065, 1.2708858251571655, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.8527885675430298, 0.8859769701957703, 2.068169593811035, -1.0065232515335083, -2.1429388523101807, -0.00261145131662488, 0.00261145131662488, 0.7524605393409729, -0.8928435444831848, 0.7402533292770386, -0.44193941354751587, 0.691805899143219, 1.271267294883728, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9233615398406982, -0.8527885675430298, 0.8882657885551453, 2.0685510635375977, -1.0069047212600708, -2.1437017917633057, -0.00261145131662488, 0.00261145131662488, 0.7749675512313843, -0.8951323628425598, 0.7444495558738708, -0.44193941354751587, 0.6948577165603638, 1.272030234336853, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8527885675430298, 0.892080545425415, 2.0685510635375977, -1.0080491304397583, -2.145609140396118, -0.00261145131662488, 0.00261145131662488, 0.7852674126625061, -0.8981841802597046, 0.7463569045066833, -0.44232088327407837, 0.6963835954666138, 1.2747005224227905, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8527885675430298, 0.8955138325691223, 2.0685510635375977, -1.0099564790725708, -2.1475164890289307, -0.00261145131662488, 0.00261145131662488, 0.778782308101654, -0.9000915288925171, 0.7482643127441406, -0.44193941354751587, 0.699816882610321, 1.275081992149353, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8524070978164673, 0.8993285894393921, 2.0693140029907227, -1.0103379487991333, -2.1475164890289307, -0.00261145131662488, 0.00261145131662488, 0.7578011751174927, -0.9008545279502869, 0.7482643127441406, -0.44155794382095337, 0.7101167440414429, 1.2788968086242676, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8512626886367798, 0.9027618765830994, 2.0700769424438477, -1.0111008882522583, -2.147897958755493, -0.00261145131662488, 0.00261145131662488, 0.7310978770256042, -0.9008545279502869, 0.7486457824707031, -0.44232088327407837, 0.7204165458679199, 1.27927827835083, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8504997491836548, 0.9058136940002441, 2.0719845294952393, -1.0137712955474854, -2.147897958755493, -0.00261145131662488, 0.00261145131662488, 0.7097352743148804, -0.9012359976768494, 0.7486457824707031, -0.44270238280296326, 0.7295719981193542, 1.2788968086242676, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9218356609344482, -0.8501182794570923, 0.9081025123596191, 2.0727474689483643, -1.0141527652740479, -2.1482794284820557, -0.00261145131662488, 0.00261145131662488, 0.699816882610321, -0.9012359976768494, 0.7486457824707031, -0.44232088327407837, 0.724612832069397, 1.2788968086242676, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9222171306610107, -0.8497368097305298, 0.9100099205970764, 2.0731289386749268, -1.0137712955474854, -2.1501870155334473, -0.00261145131662488, 0.00261145131662488, 0.7051575779914856, -0.9012359976768494, 0.7505531311035156, -0.44232088327407837, 0.7032501697540283, 1.2788968086242676, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.8497368097305298, 0.9103913903236389, 2.0719845294952393, -1.0130083560943604, -2.1509499549865723, -0.00261145131662488, 0.00261145131662488, 0.7192721366882324, -0.9016174674034119, 0.7528420090675354, -0.44155794382095337, 0.6784542798995972, 1.284618854522705, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9237430095672607, -0.8497368097305298, 0.9107728600502014, 2.0716030597686768, -1.0099564790725708, -2.1520943641662598, -0.00261145131662488, 0.00261145131662488, 0.7314793467521667, -0.9027618765830994, 0.7543678879737854, -0.44155794382095337, 0.6513695120811462, 1.2979705333709717, -0.023129349574446678, 0.023129349574446678], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.8497368097305298, 0.9103913903236389, 2.0685510635375977, -1.0061417818069458, -2.1551461219787598, -0.00261145131662488, 0.00261145131662488, 0.7459754347801208, -0.9054322242736816, 0.7562752962112427, -0.44117647409439087, 0.6303883194923401, 1.3151369094848633, -0.02313929609954357, 0.02313929609954357], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.8497368097305298, 0.9103913903236389, 2.0685510635375977, -1.0027084350585938, -2.1589608192443848, -0.00261145131662488, 0.00261145131662488, 0.7589455842971802, -0.9100099205970764, 0.7574197053909302, -0.44155794382095337, 0.612077534198761, 1.3391698598861694, -0.023129349574446678, 0.023129349574446678], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9237430095672607, -0.8497368097305298, 0.9103913903236389, 2.0685510635375977, -1.0015640258789062, -2.1654460430145264, -0.00261145131662488, 0.00261145131662488, 0.7703898549079895, -0.9153505563735962, 0.7574197053909302, -0.44193941354751587, 0.5979629158973694, 1.3708323240280151, -0.023049773648381233, 0.023049773648381233], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.8497368097305298, 0.9103913903236389, 2.0685510635375977, -0.9981307983398438, -2.1684978008270264, -0.0026066473219543695, 0.0026066473219543695, 0.7784008383750916, -0.9233615398406982, 0.7574197053909302, -0.44155794382095337, 0.5861371755599976, 1.41317617893219, -0.020262276753783226, 0.020262276753783226], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.8497368097305298, 0.9103913903236389, 2.0685510635375977, -0.9981307983398438, -2.1723124980926514, -0.00261145131662488, 0.00261145131662488, 0.7795453071594238, -0.9328984618186951, 0.7574197053909302, -0.44155794382095337, 0.5788891315460205, 1.4505608081817627, -0.015731368213891983, 0.015731368213891983], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.8493552803993225, 0.9103913903236389, 2.0685510635375977, -0.9977492690086365, -2.1730754375457764, -0.00261145131662488, 0.00261145131662488, 0.7784008383750916, -0.9409094452857971, 0.7574197053909302, -0.44117647409439087, 0.5754558444023132, 1.4791713953018188, -0.009483368135988712, 0.009483368135988712], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.8485923409461975, 0.9107728600502014, 2.068169593811035, -0.995841920375824, -2.173456907272339, -0.00261145131662488, 0.00261145131662488, 0.7730602025985718, -0.9462500810623169, 0.7562752962112427, -0.44155794382095337, 0.5758373141288757, 1.4955748319625854, -0.0009762570261955261, 0.0009762570261955261], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.848210871219635, 0.9115357995033264, 2.068169593811035, -0.9954604506492615, -2.174219846725464, -0.00261145131662488, 0.00261145131662488, 0.7661936283111572, -0.9481574892997742, 0.7558938264846802, -0.44117647409439087, 0.5838482975959778, 1.4974822998046875, -0.00014471952454186976, 0.00014471952454186976], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.924124538898468, -0.848210871219635, 0.9122987985610962, 2.0685510635375977, -0.9954604506492615, -2.176508665084839, -0.00261145131662488, 0.00261145131662488, 0.7612344622612, -0.9378576278686523, 0.7551308274269104, -0.44155794382095337, 0.5971999764442444, 1.494430422782898, -0.00014471952454186976, 0.00014471952454186976], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.916113555431366, -0.8478294014930725, 0.9145876169204712, 2.0677881240844727, -0.9939345121383667, -2.1768901348114014, -0.00261145131662488, 0.00261145131662488, 0.7623788714408875, -0.9046692848205566, 0.7539864182472229, -0.44460976123809814, 0.6185625791549683, 1.4490348100662231, -0.00014471952454186976, 0.00014471952454186976], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9012359976768494, -0.8478294014930725, 0.9187838435173035, 2.0616846084594727, -1.0000381469726562, -2.1768901348114014, -0.0026066473219543695, 0.0026066473219543695, 0.7814526557922363, -0.8646143078804016, 0.7516975402832031, -0.44460976123809814, 0.6727321147918701, 1.348706841468811, -0.00014471952454186976, 0.00014471952454186976], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8886472582817078, -0.84744793176651, 0.9222171306610107, 2.052910566329956, -1.0111008882522583, -2.1746013164520264, -0.0026066473219543695, 0.0026066473219543695, 0.8077744841575623, -0.8424887657165527, 0.7478827834129333, -0.44460976123809814, 0.7238498330116272, 1.2403677701950073, -0.00014471952454186976, 0.00014471952454186976], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8813992738723755, -0.848210871219635, 0.9237430095672607, 2.049095869064331, -1.0152971744537354, -2.172693967819214, -0.0026066473219543695, 0.0026066473219543695, 0.8234149813652039, -0.838674008846283, 0.7444495558738708, -0.44422826170921326, 0.7505531311035156, 1.1552987098693848, -0.00014471952454186976, 0.00014471952454186976], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8775845170021057, -0.8485923409461975, 0.9260318875312805, 2.049858808517456, -1.0145342350006104, -2.168116331100464, -0.0026066473219543695, 0.0026066473219543695, 0.8150225281715393, -0.8428702354431152, 0.7429236173629761, -0.44384679198265076, 0.7612344622612, 1.113336443901062, -0.00014810248103458434, 0.00014810248103458434], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8745326995849609, -0.8485923409461975, 0.9287022352218628, 2.054436445236206, -1.0141527652740479, -2.1639199256896973, -0.0026066473219543695, 0.0026066473219543695, 0.7890821695327759, -0.846684992313385, 0.7413977384567261, -0.44117647409439087, 0.7661936283111572, 1.1053253412246704, -0.0028549388516694307, 0.0028549388516694307], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8733882904052734, -0.8485923409461975, 0.9309910535812378, 2.0616846084594727, -1.0133898258209229, -2.1601052284240723, -0.0026066473219543695, 0.0026066473219543695, 0.7570382356643677, -0.8478294014930725, 0.7410162687301636, -0.44117647409439087, 0.767719566822052, 1.112191915512085, -0.020133279263973236, 0.020133279263973236], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8741512298583984, -0.8485923409461975, 0.9325169920921326, 2.065117835998535, -1.0103379487991333, -2.1543831825256348, -0.002601846121251583, 0.002601846121251583, 0.725375771522522, -0.8440146446228027, 0.7452124953269958, -0.44155794382095337, 0.770771324634552, 1.117151141166687, -0.022123591974377632, 0.022123591974377632], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8741512298583984, -0.8485923409461975, 0.9328984618186951, 2.0704586505889893, -1.0095750093460083, -2.1532387733459473, -0.002597047481685877, 0.002597047481685877, 0.6963835954666138, -0.8348592519760132, 0.7555122971534729, -0.44155794382095337, 0.7715343236923218, 1.1217288970947266, -0.022123591974377632, 0.022123591974377632], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8745326995849609, -0.8485923409461975, 0.9328984618186951, 2.0742733478546143, -1.0095750093460083, -2.1475164890289307, -0.002573092235252261, 0.002573092235252261, 0.6700618267059326, -0.8264667987823486, 0.7665750980377197, -0.44155794382095337, 0.7745860815048218, 1.1327916383743286, -0.022123591974377632, 0.022123591974377632], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8752956390380859, -0.8485923409461975, 0.9328984618186951, 2.0765621662139893, -1.0053788423538208, -2.147135019302368, -0.002573092235252261, 0.002573092235252261, 0.6525139212608337, -0.8237964510917664, 0.7730602025985718, -0.44155794382095337, 0.7738231420516968, 1.1438543796539307, -0.022123591974377632, 0.022123591974377632], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8752956390380859, -0.8485923409461975, 0.9328984618186951, 2.0796139240264893, -1.0034713745117188, -2.146372079849243, -0.002573092235252261, 0.002573092235252261, 0.649462103843689, -0.8287556171417236, 0.775730550289154, -0.44155794382095337, 0.770771324634552, 1.1514838933944702, -0.022123591974377632, 0.022123591974377632], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8752956390380859, -0.8485923409461975, 0.9317540526390076, 2.0792324542999268, -1.0011825561523438, -2.146372079849243, -0.002573092235252261, 0.002573092235252261, 0.6609063744544983, -0.838674008846283, 0.7776378989219666, -0.44155794382095337, 0.7543678879737854, 1.1591134071350098, -0.022123591974377632, 0.022123591974377632], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8783474564552307, -0.8485923409461975, 0.9317540526390076, 2.0792324542999268, -0.9962233901023865, -2.143320322036743, -0.002573092235252261, 0.002573092235252261, 0.6765468716621399, -0.8546959757804871, 0.7795453071594238, -0.44155794382095337, 0.733386754989624, 1.1697947978973389, -0.02210366167128086, 0.02210366167128086], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8806362748146057, -0.8485923409461975, 0.9336614012718201, 2.0769436359405518, -0.9939345121383667, -2.1437017917633057, -0.002573092235252261, 0.002573092235252261, 0.6952391862869263, -0.8787289261817932, 0.7871748208999634, -0.44193941354751587, 0.7135500311851501, 1.177805781364441, -0.02210366167128086, 0.02210366167128086], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, -0.8485923409461975, 0.9363317489624023, 2.0769436359405518, -0.9908827543258667, -2.1437017917633057, -0.002573092235252261, 0.002573092235252261, 0.7127870321273804, -0.9065766334533691, 0.7997635006904602, -0.44193941354751587, 0.6937133073806763, 1.185816764831543, -0.02210366167128086, 0.02210366167128086], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.889028787612915, -0.8485923409461975, 0.9386205673217773, 2.0765621662139893, -0.9897382855415344, -2.1437017917633057, -0.002573092235252261, 0.002573092235252261, 0.7265201807022095, -0.9294651746749878, 0.8119707107543945, -0.44117647409439087, 0.6792172193527222, 1.1964980363845825, -0.02199403941631317, 0.02199403941631317], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8928435444831848, -0.8485923409461975, 0.9405279755592346, 2.0773251056671143, -0.9878309369087219, -2.1437017917633057, -0.002573092235252261, 0.002573092235252261, 0.7322422862052917, -0.9431982636451721, 0.8188372850418091, -0.44193941354751587, 0.6643396615982056, 1.2071794271469116, -0.021356338635087013, 0.021356338635087013], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8958953022956848, -0.8485923409461975, 0.9416723847389221, 2.0792324542999268, -0.9885938763618469, -2.144083261489868, -0.002573092235252261, 0.002573092235252261, 0.7295719981193542, -0.9508277773857117, 0.8226520419120789, -0.44155794382095337, 0.655947208404541, 1.2277790307998657, -0.01912456937134266, 0.01912456937134266], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, -0.8485923409461975, 0.9435797929763794, 2.0780880451202393, -0.9916456937789917, -2.1444647312164307, -0.002573092235252261, 0.002573092235252261, 0.7249943017959595, -0.9546425342559814, 0.8237964510917664, -0.44117647409439087, 0.6498435735702515, 1.2495231628417969, -0.012561713345348835, 0.012561713345348835], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9027618765830994, -0.8485923409461975, 0.9451056718826294, 2.0799953937530518, -0.9927901029586792, -2.1467535495758057, -0.002573092235252261, 0.002573092235252261, 0.7169833183288574, -0.9569314122200012, 0.8215075731277466, -0.44460976123809814, 0.6490806341171265, 1.275844931602478, -0.0013971939915791154, 0.0013971939915791154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9042877554893494, -0.8485923409461975, 0.9454871416091919, 2.0822842121124268, -0.9924086332321167, -2.1505684852600098, -0.002573092235252261, 0.002573092235252261, 0.7017242908477783, -0.9573128819465637, 0.8188372850418091, -0.44079500436782837, 0.6612878441810608, 1.2953002452850342, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9046692848205566, -0.8485923409461975, 0.9454871416091919, 2.0849545001983643, -0.9924086332321167, -2.1517128944396973, -0.002573092235252261, 0.002573092235252261, 0.6853207945823669, -0.9420538544654846, 0.8188372850418091, -0.44193941354751587, 0.6876096725463867, 1.3033112287521362, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9042877554893494, -0.8485923409461975, 0.9462500810623169, 2.089150905609131, -0.9916456937789917, -2.1551461219787598, -0.002573092235252261, 0.002573092235252261, 0.6757839322090149, -0.892080545425415, 0.8196002244949341, -0.44460976123809814, 0.7059205174446106, 1.3048371076583862, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9031433463096619, -0.8478294014930725, 0.9470130205154419, 2.0956358909606934, -0.9916456937789917, -2.1578164100646973, -0.002573092235252261, 0.002573092235252261, 0.6761654019355774, -0.8192187547683716, 0.8207446336746216, -0.44346532225608826, 0.7475013136863708, 1.2689783573150635, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9023804068565369, -0.84744793176651, 0.9481574892997742, 2.10288405418396, -0.9920271635055542, -2.1581978797912598, -0.002573092235252261, 0.002573092235252261, 0.6860837936401367, -0.7593270540237427, 0.8207446336746216, -0.44117647409439087, 0.840962827205658, 1.2014572620391846, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9016174674034119, -0.84744793176651, 0.9489204287528992, 2.1055543422698975, -0.9931715726852417, -2.1627755165100098, -0.002573092235252261, 0.002573092235252261, 0.700579822063446, -0.7291905283927917, 0.810826301574707, -0.44422826170921326, 0.9565499424934387, 1.1320286989212036, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, -0.84744793176651, 0.951209306716919, 2.10746169090271, -0.9931715726852417, -2.166590452194214, -0.002573092235252261, 0.002573092235252261, 0.7124055624008179, -0.7158388495445251, 0.7856488823890686, -0.44384679198265076, 1.050011396408081, 1.0793850421905518, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, -0.84744793176651, 0.9538795948028564, 2.11356520652771, -0.9931715726852417, -2.169642210006714, -0.002573092235252261, 0.002573092235252261, 0.7093538045883179, -0.7230868935585022, 0.7612344622612, -0.44422826170921326, 1.1160067319869995, 1.047722578048706, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9000915288925171, -0.84744793176651, 0.9576943516731262, 2.118143081665039, -0.9920271635055542, -2.1700236797332764, -0.002573092235252261, 0.002573092235252261, 0.6971465349197388, -0.7410162687301636, 0.7452124953269958, -0.44422826170921326, 1.1652170419692993, 1.0313191413879395, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9000915288925171, -0.84744793176651, 0.959983229637146, 2.1238651275634766, -0.9912642240524292, -2.1707866191864014, -0.002573092235252261, 0.002573092235252261, 0.6864652633666992, -0.7543678879737854, 0.7364385724067688, -0.44460976123809814, 1.1804760694503784, 1.02216374874115, -0.00019568698189686984, 0.00019568698189686984], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9016174674034119, -0.8470664620399475, 0.9618905782699585, 2.1253910064697266, -0.9905012845993042, -2.1715495586395264, -0.002573092235252261, 0.002573092235252261, 0.6689173579216003, -0.7616159319877625, 0.732623815536499, -0.44079500436782837, 1.180094599723816, 1.0233081579208374, -0.01198932807892561, 0.01198932807892561], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9023804068565369, -0.8443961143493652, 0.9630350470542908, 2.1261539459228516, -0.9878309369087219, -2.1715495586395264, -0.002573092235252261, 0.002573092235252261, 0.6345845460891724, -0.7623788714408875, 0.7379644513130188, -0.44117647409439087, 1.1602579355239868, 1.034752368927002, -0.028574157506227493, 0.028574157506227493], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9023804068565369, -0.8405813574790955, 0.9637979865074158, 2.127298355102539, -0.9878309369087219, -2.1715495586395264, -0.002573092235252261, 0.002573092235252261, 0.5910963416099548, -0.7467383742332458, 0.7562752962112427, -0.44117647409439087, 1.1560616493225098, 1.034752368927002, -0.028583474457263947, 0.028583474457263947], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9023804068565369, -0.837911069393158, 0.9626535177230835, 2.1276798248291016, -0.9889753460884094, -2.1715495586395264, -0.002573092235252261, 0.002573092235252261, 0.536163866519928, -0.7207980751991272, 0.7761120200157166, -0.44117647409439087, 1.1438543796539307, 1.0351338386535645, -0.028583474457263947, 0.028583474457263947], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9019989371299744, -0.8360036611557007, 0.9603646993637085, 2.121194839477539, -0.9931715726852417, -2.1715495586395264, -0.002573092235252261, 0.002573092235252261, 0.4800869822502136, -0.700579822063446, 0.7833600640296936, -0.44079500436782837, 1.128213882446289, 1.0591669082641602, -0.02803054265677929, 0.02803054265677929], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9012359976768494, -0.8356221914291382, 0.9576943516731262, 2.1086061000823975, -0.995078980922699, -2.1715495586395264, -0.002573092235252261, 0.002573092235252261, 0.44766154885292053, -0.6906614899635315, 0.7711527943611145, -0.44117647409439087, 1.0984588861465454, 1.0999847650527954, -0.02592986449599266, 0.02592986449599266], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, -0.8352407217025757, 0.9561684727668762, 2.092965602874756, -0.9954604506492615, -2.171168088912964, -0.002573092235252261, 0.002573092235252261, 0.4510948359966278, -0.6872282028198242, 0.7520790696144104, -0.44193941354751587, 1.0450522899627686, 1.1438543796539307, -0.02487214468419552, 0.02487214468419552], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, -0.8352407217025757, 0.9557870030403137, 2.0792324542999268, -0.9962233901023865, -2.171168088912964, -0.002573092235252261, 0.002573092235252261, 0.4839017391204834, -0.693331778049469, 0.7406347990036011, -0.44155794382095337, 0.9775310754776001, 1.181620478630066, -0.02467510476708412, 0.02467510476708412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, -0.8352407217025757, 0.9557870030403137, 2.0677881240844727, -0.9969863295555115, -2.1715495586395264, -0.002573092235252261, 0.002573092235252261, 0.5247195959091187, -0.7074463963508606, 0.735675573348999, -0.44079500436782837, 0.9134432077407837, 1.2151904106140137, -0.02467510476708412, 0.02467510476708412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8997100591659546, -0.8352407217025757, 0.9561684727668762, 2.0601587295532227, -0.9988937377929688, -2.171168088912964, -0.002573092235252261, 0.002573092235252261, 0.569733738899231, -0.734149694442749, 0.733386754989624, -0.44079500436782837, 0.8558403849601746, 1.2499046325683594, -0.024022802710533142, 0.024022802710533142], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9004730582237244, -0.8352407217025757, 0.9576943516731262, 2.0525290966033936, -1.0004196166992188, -2.1715495586395264, -0.002573092235252261, 0.002573092235252261, 0.6067368388175964, -0.7597085237503052, 0.7337682247161865, -0.44117647409439087, 0.8142595291137695, 1.2628748416900635, -0.02370557002723217, 0.02370557002723217], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9023804068565369, -0.8340963125228882, 0.9576943516731262, 2.046807050704956, -1.0057603120803833, -2.171168088912964, -0.002573092235252261, 0.002573092235252261, 0.6326771974563599, -0.7761120200157166, 0.7360570430755615, -0.4404135048389435, 0.7749675512313843, 1.2731746435165405, -0.02370557002723217, 0.02370557002723217], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9027618765830994, -0.8325703740119934, 0.9576943516731262, 2.0426108837127686, -1.0088120698928833, -2.171168088912964, -0.002573092235252261, 0.002573092235252261, 0.6429770588874817, -0.7852674126625061, 0.7375829815864563, -0.44079500436782837, 0.7413977384567261, 1.28080415725708, -0.02334807626903057, 0.02334807626903057], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9035248160362244, -0.8314259648323059, 0.9576943516731262, 2.042229413986206, -1.0107194185256958, -2.171168088912964, -0.002573092235252261, 0.002573092235252261, 0.6464102864265442, -0.7906080484390259, 0.7379644513130188, -0.44117647409439087, 0.7223239541053772, 1.283092975616455, -0.02322879247367382, 0.02322879247367382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9046692848205566, -0.8306630253791809, 0.9576943516731262, 2.0410850048065186, -1.0118639469146729, -2.171168088912964, -0.002573092235252261, 0.002573092235252261, 0.648699164390564, -0.7932783961296082, 0.7379644513130188, -0.44117647409439087, 0.7066834568977356, 1.2869077920913696, -0.023238733410835266, 0.023238733410835266], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9069581031799316, -0.8306630253791809, 0.9576943516731262, 2.037651538848877, -1.0137712955474854, -2.171168088912964, -0.002573092235252261, 0.002573092235252261, 0.6548027992248535, -0.7955672740936279, 0.7387273907661438, -0.44117647409439087, 0.6868467330932617, 1.2869077920913696, -0.02322879247367382, 0.02322879247367382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9088655114173889, -0.8302815556526184, 0.9576943516731262, 2.037651538848877, -1.0137712955474854, -2.171168088912964, -0.002573092235252261, 0.002573092235252261, 0.6654840707778931, -0.7970931529998779, 0.7433050870895386, -0.44155794382095337, 0.6624323129653931, 1.2869077920913696, -0.02322879247367382, 0.02322879247367382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9100099205970764, -0.8302815556526184, 0.959983229637146, 2.026970386505127, -1.0111008882522583, -2.1715495586395264, -0.002573092235252261, 0.002573092235252261, 0.6708247661590576, -0.7982375621795654, 0.7528420090675354, -0.44117647409439087, 0.6422140598297119, 1.2876707315444946, -0.02322879247367382, 0.02322879247367382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9107728600502014, -0.8302815556526184, 0.9618905782699585, 2.027733325958252, -1.0103379487991333, -2.1723124980926514, -0.002573092235252261, 0.002573092235252261, 0.6715877056121826, -0.7986190319061279, 0.7612344622612, -0.44117647409439087, 0.6300068497657776, 1.2907224893569946, -0.022492248564958572, 0.022492248564958572], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9134432077407837, -0.8302815556526184, 0.9626535177230835, 2.027733325958252, -1.0103379487991333, -2.1723124980926514, -0.002573092235252261, 0.002573092235252261, 0.6761654019355774, -0.8012893795967102, 0.7665750980377197, -0.44117647409439087, 0.6235218048095703, 1.2888151407241821, -0.022342810407280922, 0.022342810407280922], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9153505563735962, -0.8302815556526184, 0.9626535177230835, 2.0288777351379395, -1.0103379487991333, -2.1723124980926514, -0.002573092235252261, 0.002573092235252261, 0.6864652633666992, -0.811589241027832, 0.7688639760017395, -0.44117647409439087, 0.620851457118988, 1.2811856269836426, -0.021067559719085693, 0.021067559719085693], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.8299000263214111, 0.9626535177230835, 2.029259204864502, -1.0107194185256958, -2.171931028366089, -0.002573092235252261, 0.002573092235252261, 0.6948577165603638, -0.8218890428543091, 0.7711527943611145, -0.44193941354751587, 0.6204699873924255, 1.275081992149353, -0.017259428277611732, 0.017259428277611732], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9180209040641785, -0.8283741474151611, 0.9626535177230835, 2.0281147956848145, -1.0107194185256958, -2.1715495586395264, -0.002573092235252261, 0.002573092235252261, 0.6898985505104065, -0.8272297382354736, 0.7730602025985718, -0.44155794382095337, 0.620851457118988, 1.274319052696228, -0.004923547618091106, 0.004923547618091106], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.918402373790741, -0.8245593905448914, 0.9626535177230835, 2.027733325958252, -1.0103379487991333, -2.1707866191864014, -0.002573092235252261, 0.002573092235252261, 0.6670100092887878, -0.8299000263214111, 0.7749675512313843, -0.44117647409439087, 0.6380178332328796, 1.2762264013290405, -0.0001413386780768633, 0.0001413386780768633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.918402373790741, -0.8207446336746216, 0.9603646993637085, 2.030785083770752, -1.0107194185256958, -2.171168088912964, -0.002573092235252261, 0.002573092235252261, 0.6277180314064026, -0.8302815556526184, 0.7932783961296082, -0.44155794382095337, 0.6769283413887024, 1.2850003242492676, -0.0001413386780768633, 0.0001413386780768633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9180209040641785, -0.8176928162574768, 0.9569314122200012, 2.0288777351379395, -1.0107194185256958, -2.1715495586395264, -0.002573092235252261, 0.002573092235252261, 0.5735484957695007, -0.8279926776885986, 0.8382925391197205, -0.44537270069122314, 0.7177462577819824, 1.2899595499038696, -0.0001413386780768633, 0.0001413386780768633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9180209040641785, -0.8169298768043518, 0.953498125076294, 2.027733325958252, -1.0103379487991333, -2.1730754375457764, -0.002573092235252261, 0.002573092235252261, 0.5178530812263489, -0.8237964510917664, 0.88979172706604, -0.44422826170921326, 0.7459754347801208, 1.2941558361053467, -0.0001413386780768633, 0.0001413386780768633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.8169298768043518, 0.9504463076591492, 2.0296406745910645, -1.0103379487991333, -2.1730754375457764, -0.002573092235252261, 0.002573092235252261, 0.47932401299476624, -0.8234149813652039, 0.9092469811439514, -0.44308385252952576, 0.7379644513130188, 1.3216220140457153, -0.0001413386780768633, 0.0001413386780768633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9172579646110535, -0.8169298768043518, 0.9477760195732117, 2.0273518562316895, -1.0103379487991333, -2.172693967819214, -0.0025683087296783924, 0.0025683087296783924, 0.4678797721862793, -0.8306630253791809, 0.8936064839363098, -0.44117647409439087, 0.7082093358039856, 1.3754100799560547, -0.0001413386780768633, 0.0001413386780768633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9164950251579285, -0.8169298768043518, 0.9451056718826294, 2.027733325958252, -1.0114823579788208, -2.1700236797332764, -0.0025683087296783924, 0.0025683087296783924, 0.4697871506214142, -0.8436331748962402, 0.8684290647506714, -0.44117647409439087, 0.6826505064964294, 1.4223315715789795, -0.0001413386780768633, 0.0001413386780768633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9115357995033264, -0.8169298768043518, 0.9439612627029419, 2.027733325958252, -1.0107194185256958, -2.1700236797332764, -0.0025683087296783924, 0.0025683087296783924, 0.4873350262641907, -0.8550774455070496, 0.8493552803993225, -0.44155794382095337, 0.6689173579216003, 1.4501793384552002, -0.0001413386780768633, 0.0001413386780768633], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9061951637268066, -0.8169298768043518, 0.9424353241920471, 2.027733325958252, -1.0091935396194458, -2.1700236797332764, -0.0025683087296783924, 0.0025683087296783924, 0.5109865069389343, -0.8623254895210266, 0.837911069393158, -0.44117647409439087, 0.6639581918716431, 1.4597162008285522, -0.0006245730328373611, 0.0006245730328373611], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8989471197128296, -0.8169298768043518, 0.9405279755592346, 2.028496265411377, -1.0030899047851562, -2.1700236797332764, -0.0025683087296783924, 0.0025683087296783924, 0.5350194573402405, -0.8665217161178589, 0.8310444951057434, -0.44155794382095337, 0.6616693139076233, 1.4627679586410522, -0.008609526790678501, 0.008609526790678501], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8947508931159973, -0.8169298768043518, 0.9378576278686523, 2.0281147956848145, -1.0004196166992188, -2.170405149459839, -0.0025683087296783924, 0.0025683087296783924, 0.5586709380149841, -0.8695735335350037, 0.8264667987823486, -0.44117647409439087, 0.6757839322090149, 1.4612420797348022, -0.009648184292018414, 0.009648184292018414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.88979172706604, -0.8173113465309143, 0.9367132186889648, 2.0281147956848145, -0.994316041469574, -2.1707866191864014, -0.0025683087296783924, 0.0025683087296783924, 0.5807965397834778, -0.8718623518943787, 0.8245593905448914, -0.44155794382095337, 0.6849393248558044, 1.4562828540802002, -0.010343469679355621, 0.010343469679355621], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8878843188285828, -0.8180742859840393, 0.9359502792358398, 2.0281147956848145, -0.9882124066352844, -2.1707866191864014, -0.002573092235252261, 0.002573092235252261, 0.6002517938613892, -0.8764400482177734, 0.8226520419120789, -0.44232088327407837, 0.6887540817260742, 1.4509422779083252, -0.010319162160158157, 0.010319162160158157], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8875028491020203, -0.8184558153152466, 0.9359502792358398, 2.028496265411377, -0.9870679974555969, -2.169642210006714, -0.002573092235252261, 0.002573092235252261, 0.6170367002487183, -0.884069561958313, 0.8211261034011841, -0.44232088327407837, 0.692568838596344, 1.4475089311599731, -0.002954152412712574, 0.002954152412712574], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, -0.8184558153152466, 0.9351872801780701, 2.028496265411377, -0.9832532405853271, -2.1646831035614014, -0.0025683087296783924, 0.0025683087296783924, 0.622377336025238, -0.890554666519165, 0.8230335116386414, -0.44232088327407837, 0.6952391862869263, 1.4528496265411377, -0.00017184266471304, 0.00017184266471304], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8852140307426453, -0.8184558153152466, 0.9351872801780701, 2.0273518562316895, -0.9832532405853271, -2.1604866981506348, -0.0025683087296783924, 0.0025683087296783924, 0.5884260535240173, -0.8936064839363098, 0.8531700372695923, -0.44422826170921326, 0.7043945789337158, 1.484893560409546, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8852140307426453, -0.8184558153152466, 0.9351872801780701, 2.026970386505127, -0.9847791194915771, -2.1494240760803223, -0.0025683087296783924, 0.0025683087296783924, 0.5102235674858093, -0.8932250142097473, 0.9119172692298889, -0.44155794382095337, 0.7173647880554199, 1.5115967988967896, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8852140307426453, -0.8176928162574768, 0.9359502792358398, 2.025444507598877, -0.9893568158149719, -2.1467535495758057, -0.0025683087296783924, 0.0025683087296783924, 0.44422826170921326, -0.889028787612915, 0.9515907764434814, -0.44117647409439087, 0.7120240926742554, 1.5436408519744873, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.8173113465309143, 0.9344243407249451, 2.0212481021881104, -0.996604859828949, -2.1459906101226807, -0.0025683087296783924, 0.0025683087296783924, 0.4327840209007263, -0.8924620151519775, 0.9611276388168335, -0.44117647409439087, 0.7093538045883179, 1.5642404556274414, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.8173113465309143, 0.9325169920921326, 2.016288995742798, -1.0030899047851562, -2.143320322036743, -0.0025683087296783924, 0.0025683087296783924, 0.4499503970146179, -0.9035248160362244, 0.9458686113357544, -0.44193941354751587, 0.7024872303009033, 1.5794994831085205, -0.00016844485071487725, 0.00016844485071487725], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.8173113465309143, 0.9325169920921326, 2.015526056289673, -1.0034713745117188, -2.143320322036743, -0.0025683087296783924, 0.0025683087296783924, 0.47512778639793396, -0.9111543297767639, 0.9172579646110535, -0.44155794382095337, 0.6986724734306335, 1.586366057395935, -0.0012702341191470623, 0.0012702341191470623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8859769701957703, -0.8173113465309143, 0.9328984618186951, 2.0159075260162354, -1.0065232515335083, -2.1429388523101807, -0.0025683087296783924, 0.0025683087296783924, 0.5037384629249573, -0.916113555431366, 0.8859769701957703, -0.44193941354751587, 0.6994354128837585, 1.5897992849349976, -0.0066235922276973724, 0.0066235922276973724], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.8173113465309143, 0.9328984618186951, 2.0166704654693604, -1.0072861909866333, -2.142557382583618, -0.0025683087296783924, 0.0025683087296783924, 0.5308232307434082, -0.918402373790741, 0.8611810207366943, -0.44193941354751587, 0.7051575779914856, 1.5901808738708496, -0.009249976836144924, 0.009249976836144924], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8852140307426453, -0.8173113465309143, 0.9328984618186951, 2.0189592838287354, -1.0069047212600708, -2.1391241550445557, -0.0025683087296783924, 0.0025683087296783924, 0.5567635893821716, -0.9199283123016357, 0.8443961143493652, -0.44193941354751587, 0.7211795449256897, 1.5901808738708496, -0.009491189382970333, 0.009491189382970333], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, -0.8173113465309143, 0.9325169920921326, 2.0189592838287354, -1.0065232515335083, -2.139505624771118, -0.0025683087296783924, 0.0025683087296783924, 0.5758373141288757, -0.9206912517547607, 0.8348592519760132, -0.44232088327407837, 0.735675573348999, 1.589417815208435, -0.009656062349677086, 0.009656062349677086], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, -0.8173113465309143, 0.9325169920921326, 2.0189592838287354, -1.0065232515335083, -2.140268564224243, -0.0025683087296783924, 0.0025683087296783924, 0.5930037498474121, -0.9206912517547607, 0.8302815556526184, -0.44308385252952576, 0.7429236173629761, 1.5829328298568726, -0.008760258555412292, 0.008760258555412292], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, -0.8173113465309143, 0.9328984618186951, 2.0189592838287354, -1.0057603120803833, -2.1429388523101807, -0.002573092235252261, 0.002573092235252261, 0.6040665507316589, -0.9206912517547607, 0.8276112079620361, -0.44193941354751587, 0.7528420090675354, 1.5714884996414185, -4.421240373631008e-05, 4.421240373631008e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, -0.8173113465309143, 0.9332799315452576, 2.0189592838287354, -1.0038528442382812, -2.143320322036743, -0.0025683087296783924, 0.0025683087296783924, 0.5998703241348267, -0.9206912517547607, 0.8344777822494507, -0.44308385252952576, 0.7524605393409729, 1.5684367418289185, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, -0.8173113465309143, 0.9336614012718201, 2.018577814102173, -1.0023269653320312, -2.144083261489868, -0.0025683087296783924, 0.0025683087296783924, 0.5682078003883362, -0.9206912517547607, 0.8688105344772339, -0.44346532225608826, 0.7524605393409729, 1.566529393196106, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, -0.8173113465309143, 0.9336614012718201, 2.015526056289673, -1.0030899047851562, -2.143320322036743, -0.0025683087296783924, 0.0025683087296783924, 0.50030517578125, -0.917639434337616, 0.9294651746749878, -0.44079500436782837, 0.7494087219238281, 1.568818211555481, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, -0.8173113465309143, 0.9336614012718201, 2.0120928287506104, -1.0076676607131958, -2.143320322036743, -0.0025683087296783924, 0.0025683087296783924, 0.4205767810344696, -0.9107728600502014, 0.9733348488807678, -0.44079500436782837, 0.7249943017959595, 1.6023880243301392, -0.00019227426673751324, 0.00019227426673751324], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, -0.8173113465309143, 0.9328984618186951, 2.0105669498443604, -1.0130083560943604, -2.139505624771118, -0.0025683087296783924, 0.0025683087296783924, 0.36297398805618286, -0.9077210426330566, 0.9931715726852417, -0.44079500436782837, 0.6868467330932617, 1.643587350845337, -0.004989334847778082, 0.004989334847778082], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8875028491020203, -0.8173113465309143, 0.9302281141281128, 2.0040817260742188, -1.0179674625396729, -2.139505624771118, -0.0025683087296783924, 0.0025683087296783924, 0.34924086928367615, -0.9084840416908264, 0.9924086332321167, -0.44117647409439087, 0.6738765835762024, 1.648546576499939, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8875028491020203, -0.8173113465309143, 0.9283207654953003, 2.0002670288085938, -1.0194933414459229, -2.139505624771118, -0.0025683087296783924, 0.0025683087296783924, 0.35152971744537354, -0.9088655114173889, 0.9798199534416199, -0.44117647409439087, 0.6719691753387451, 1.6229877471923828, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, -0.8173113465309143, 0.9267948269844055, 2.0002670288085938, -1.021400809288025, -2.139505624771118, -0.0025683087296783924, 0.0025683087296783924, 0.3561074137687683, -0.9088655114173889, 0.968757152557373, -0.44155794382095337, 0.6940947771072388, 1.583314299583435, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8836880922317505, -0.8173113465309143, 0.9267948269844055, 1.9998855590820312, -1.02216374874115, -2.1391241550445557, -0.0025683087296783924, 0.0025683087296783924, 0.3622110188007355, -0.9088655114173889, 0.9634165167808533, -0.44193941354751587, 0.7436865568161011, 1.5344853401184082, -0.033781856298446655, 0.033781856298446655], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8813992738723755, -0.8173113465309143, 0.9260318875312805, 1.9979782104492188, -1.0233081579208374, -2.137979745864868, -0.002573092235252261, 0.002573092235252261, 0.3725108802318573, -0.9073395729064941, 0.9588387608528137, -0.44422826170921326, 0.8211261034011841, 1.4620050191879272, -0.030307844281196594, 0.030307844281196594], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8802548050880432, -0.8173113465309143, 0.9260318875312805, 1.9983596801757812, -1.0255969762802124, -2.135690927505493, -0.0025683087296783924, 0.0025683087296783924, 0.3877699077129364, -0.9046692848205566, 0.9561684727668762, -0.44422826170921326, 0.9138246774673462, 1.3727397918701172, -0.029010046273469925, 0.029010046273469925], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8779659867286682, -0.8173113465309143, 0.9260318875312805, 1.9975967407226562, -1.0263599157333374, -2.135690927505493, -0.0025683087296783924, 0.0025683087296783924, 0.421339750289917, -0.9027618765830994, 0.9546425342559814, -0.44422826170921326, 0.9969863295555115, 1.2994964122772217, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8752956390380859, -0.8173113465309143, 0.9252689480781555, 1.9975967407226562, -1.027885913848877, -2.1360723972320557, -0.0025683087296783924, 0.0025683087296783924, 0.4682612419128418, -0.9016174674034119, 0.951209306716919, -0.44384679198265076, 1.0515373945236206, 1.2510490417480469, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8752956390380859, -0.8173113465309143, 0.924887478351593, 1.9975967407226562, -1.0290303230285645, -2.1360723972320557, -0.0025683087296783924, 0.0025683087296783924, 0.5048828721046448, -0.9012359976768494, 0.9393835067749023, -0.44155794382095337, 1.0725184679031372, 1.2232013940811157, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8752956390380859, -0.8173113465309143, 0.9267948269844055, 1.9972152709960938, -1.0328450202941895, -2.135690927505493, -0.0025683087296783924, 0.0025683087296783924, 0.5239566564559937, -0.9012359976768494, 0.9180209040641785, -0.44117647409439087, 1.0797665119171143, 1.2094682455062866, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8752956390380859, -0.8173113465309143, 0.9279392957687378, 1.9972152709960938, -1.0400930643081665, -2.135690927505493, -0.0025683087296783924, 0.0025683087296783924, 0.5373083353042603, -0.9012359976768494, 0.8947508931159973, -0.44308385252952576, 1.0839627981185913, 1.1999313831329346, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8752956390380859, -0.8173113465309143, 0.9287022352218628, 1.9968338012695312, -1.041237473487854, -2.135690927505493, -0.0025683087296783924, 0.0025683087296783924, 0.5514228940010071, -0.9012359976768494, 0.8749141693115234, -0.44270238280296326, 1.0721369981765747, 1.1957350969314575, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8752956390380859, -0.8173113465309143, 0.9290837049484253, 1.9956892728805542, -1.043144941329956, -2.134927988052368, -0.0025683087296783924, 0.0025683087296783924, 0.5617227554321289, -0.9012359976768494, 0.8604180812835693, -0.44155794382095337, 1.0393301248550415, 1.1957350969314575, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8764400482177734, -0.8173113465309143, 0.9313725233078003, 1.9930189847946167, -1.044670820236206, -2.1314945220947266, -0.0025683087296783924, 0.0025683087296783924, 0.5663004517555237, -0.9012359976768494, 0.8497368097305298, -0.44155794382095337, 0.997367799282074, 1.19611656665802, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8783474564552307, -0.8169298768043518, 0.9344243407249451, 1.9914931058883667, -1.044670820236206, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.5663004517555237, -0.9012359976768494, 0.8440146446228027, -0.44117647409439087, 0.9584572911262512, 1.2029831409454346, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8806362748146057, -0.8165484070777893, 0.9359502792358398, 1.9899672269821167, -1.046959638595581, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.5617227554321289, -0.9012359976768494, 0.840962827205658, -0.44117647409439087, 0.9214541912078857, 1.2079423666000366, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8813992738723755, -0.8161669373512268, 0.9363317489624023, 1.9907301664352417, -1.048485517501831, -2.1322574615478516, -0.0025683087296783924, 0.0025683087296783924, 0.5655375123023987, -0.9012359976768494, 0.8398184180259705, -0.44117647409439087, 0.8829251527786255, 1.2144273519515991, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.883306622505188, -0.8161669373512268, 0.9363317489624023, 1.9895857572555542, -1.051155924797058, -2.1322574615478516, -0.0025683087296783924, 0.0025683087296783924, 0.5746929049491882, -0.9012359976768494, 0.8428702354431152, -0.44117647409439087, 0.8428702354431152, 1.2186236381530762, -0.02882508747279644, 0.02882508747279644], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8836880922317505, -0.8161669373512268, 0.9367132186889648, 1.9899672269821167, -1.050774335861206, -2.1322574615478516, -0.0025683087296783924, 0.0025683087296783924, 0.5819409489631653, -0.9012359976768494, 0.84592205286026, -0.44117647409439087, 0.8081559538841248, 1.2190051078796387, -0.02839674986898899, 0.02839674986898899], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8836880922317505, -0.8161669373512268, 0.9370946884155273, 1.9903486967086792, -1.0473411083221436, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.5930037498474121, -0.9012359976768494, 0.8478294014930725, -0.44117647409439087, 0.7799267768859863, 1.2201495170593262, -0.028349952772259712, 0.028349952772259712], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8836880922317505, -0.8161669373512268, 0.9370946884155273, 1.9899672269821167, -1.040474534034729, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.6021591424942017, -0.9016174674034119, 0.848210871219635, -0.44155794382095337, 0.7501716613769531, 1.2216753959655762, -0.027166103944182396, 0.027166103944182396], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8836880922317505, -0.8161669373512268, 0.9370946884155273, 1.9907301664352417, -1.033226490020752, -2.1307315826416016, -0.0025683087296783924, 0.0025683087296783924, 0.6033035516738892, -0.9016174674034119, 0.8485923409461975, -0.44155794382095337, 0.7238498330116272, 1.2304493188858032, -0.0241515152156353, 0.0241515152156353], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.882543683052063, -0.8161669373512268, 0.9370946884155273, 1.9888228178024292, -1.024452567100525, -2.128061294555664, -0.0025683087296783924, 0.0025683087296783924, 0.6029220819473267, -0.9016174674034119, 0.84897381067276, -0.44117647409439087, 0.7082093358039856, 1.2415121793746948, -0.019272472709417343, 0.019272472709417343], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8806362748146057, -0.8161669373512268, 0.9363317489624023, 1.9853894710540771, -1.0175859928131104, -2.1276798248291016, -0.0025683087296783924, 0.0025683087296783924, 0.5949110984802246, -0.9016174674034119, 0.84897381067276, -0.44117647409439087, 0.7017242908477783, 1.254482388496399, -0.008489737287163734, 0.008489737287163734], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8806362748146057, -0.8161669373512268, 0.9363317489624023, 1.9853894710540771, -1.0133898258209229, -2.1276798248291016, -0.0025683087296783924, 0.0025683087296783924, 0.579270601272583, -0.9016174674034119, 0.8485923409461975, -0.44117647409439087, 0.7104982137680054, 1.2708858251571655, -0.00024368900631088763, 0.00024368900631088763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8775845170021057, -0.8161669373512268, 0.9363317489624023, 1.9853894710540771, -1.0130083560943604, -2.1276798248291016, -0.0025683087296783924, 0.0025683087296783924, 0.5563820600509644, -0.9016174674034119, 0.8497368097305298, -0.44155794382095337, 0.7410162687301636, 1.2739375829696655, -0.0001752426178427413, 0.0001752426178427413], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8733882904052734, -0.8161669373512268, 0.9367132186889648, 1.9865338802337646, -1.0099564790725708, -2.128061294555664, -0.0025683087296783924, 0.0025683087296783924, 0.5312047004699707, -0.9019989371299744, 0.8653773069381714, -0.44422826170921326, 0.7936598658561707, 1.274319052696228, -0.0001752426178427413, 0.0001752426178427413], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8699550032615662, -0.8161669373512268, 0.9374761581420898, 1.9857709407806396, -1.0053788423538208, -2.128061294555664, -0.0025683087296783924, 0.0025683087296783924, 0.5254825949668884, -0.9016174674034119, 0.9061951637268066, -0.44499123096466064, 0.8775845170021057, 1.2285419702529907, -0.0001752426178427413, 0.0001752426178427413], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8657587766647339, -0.8161669373512268, 0.9386205673217773, 1.9861524105072021, -1.0034713745117188, -2.1284427642822266, -0.0025683087296783924, 0.0025683087296783924, 0.54417484998703, -0.8989471197128296, 0.9580758213996887, -0.44460976123809814, 0.9889753460884094, 1.1484321355819702, -0.0001752426178427413, 0.0001752426178427413], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8600366115570068, -0.8161669373512268, 0.9390020370483398, 1.9861524105072021, -1.0034713745117188, -2.128824234008789, -0.0025683087296783924, 0.0025683087296783924, 0.5731670260429382, -0.8901731967926025, 0.9939345121383667, -0.44422826170921326, 1.104180932044983, 1.0606927871704102, -0.0001752426178427413, 0.0001752426178427413], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, -0.8165484070777893, 0.9386205673217773, 1.9861524105072021, -1.0042344331741333, -2.1299686431884766, -0.0025683087296783924, 0.0025683087296783924, 0.6025406122207642, -0.8829251527786255, 1.0137712955474854, -0.44346532225608826, 1.2312123775482178, 0.9744792580604553, -0.0001752426178427413, 0.0001752426178427413], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8485923409461975, -0.8165484070777893, 0.9374761581420898, 1.9865338802337646, -1.0061417818069458, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.6181811094284058, -0.8798733353614807, 1.0172045230865479, -0.44384679198265076, 1.3433661460876465, 0.9073395729064941, -0.0001752426178427413, 0.0001752426178427413], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84592205286026, -0.8173113465309143, 0.9374761581420898, 1.9857709407806396, -1.0057603120803833, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.6090257167816162, -0.8779659867286682, 1.0118639469146729, -0.44308385252952576, 1.3979171514511108, 0.8772030472755432, -0.0031201462261378765, 0.0031201462261378765], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8443961143493652, -0.8184558153152466, 0.9405279755592346, 1.9861524105072021, -1.0030899047851562, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.5693522691726685, -0.8772030472755432, 1.0034713745117188, -0.44155794382095337, 1.3902876377105713, 0.8829251527786255, -0.028973115608096123, 0.028973115608096123], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8188372850418091, 0.9447242021560669, 1.9853894710540771, -1.0015640258789062, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.5212863087654114, -0.8768215179443359, 0.9977492690086365, -0.44117647409439087, 1.354047417640686, 0.916113555431366, -0.030200699344277382, 0.030200699344277382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8188372850418091, 0.9485389590263367, 1.9853894710540771, -0.9988937377929688, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.47817960381507874, -0.8768215179443359, 0.9885938763618469, -0.44155794382095337, 1.3033112287521362, 0.9668498039245605, -0.030200699344277382, 0.030200699344277382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8188372850418091, 0.9496833682060242, 1.9850080013275146, -0.9988937377929688, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.45643550157546997, -0.8768215179443359, 0.9729533791542053, -0.44155794382095337, 1.2445639371871948, 1.0107194185256958, -0.030200699344277382, 0.030200699344277382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8188372850418091, 0.9496833682060242, 1.9842450618743896, -0.9985122680664062, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.45719844102859497, -0.8768215179443359, 0.9515907764434814, -0.44155794382095337, 1.180857539176941, 1.042763352394104, -0.030200699344277382, 0.030200699344277382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8436331748962402, -0.8188372850418091, 0.9504463076591492, 1.9838635921478271, -0.9985122680664062, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.47512778639793396, -0.8794918656349182, 0.9336614012718201, -0.44193941354751587, 1.1152437925338745, 1.0626001358032227, -0.030200699344277382, 0.030200699344277382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8188372850418091, 0.9508277773857117, 1.9819562435150146, -0.9981307983398438, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.5006866455078125, -0.8882657885551453, 0.9229800701141357, -0.44117647409439087, 1.0553520917892456, 1.0675593614578247, -0.030200699344277382, 0.030200699344277382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8188372850418091, 0.9508277773857117, 1.980430245399475, -0.995078980922699, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.5312047004699707, -0.9039062857627869, 0.9180209040641785, -0.44117647409439087, 1.0030899047851562, 1.0736628770828247, -0.030200699344277382, 0.030200699344277382], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8188372850418091, 0.9508277773857117, 1.9777599573135376, -0.995078980922699, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.5617227554321289, -0.9267948269844055, 0.9145876169204712, -0.44117647409439087, 0.9611276388168335, 1.0824369192123413, -0.02943236380815506, 0.02943236380815506], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8184558153152466, 0.9508277773857117, 1.97661554813385, -0.995078980922699, -2.131875991821289, -0.0025683087296783924, 0.0025683087296783924, 0.5815594792366028, -0.9504463076591492, 0.9134432077407837, -0.44117647409439087, 0.9267948269844055, 1.0923552513122559, -0.027051148936152458, 0.027051148936152458], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8436331748962402, -0.8184558153152466, 0.951209306716919, 1.977378487586975, -0.9969863295555115, -2.129587173461914, -0.0025683087296783924, 0.0025683087296783924, 0.5945296287536621, -0.9668498039245605, 0.9126802682876587, -0.44117647409439087, 0.8981841802597046, 1.0999847650527954, -0.02504919469356537, 0.02504919469356537], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8443961143493652, -0.8184558153152466, 0.9515907764434814, 1.97356379032135, -0.9988937377929688, -2.128061294555664, -0.0025683087296783924, 0.0025683087296783924, 0.6055924296379089, -0.9756237268447876, 0.9126802682876587, -0.44155794382095337, 0.8703364729881287, 1.11142897605896, -0.021256741136312485, 0.021256741136312485], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8455405235290527, -0.8184558153152466, 0.951972246170044, 1.970130443572998, -0.9988937377929688, -2.127298355102539, -0.0025683087296783924, 0.0025683087296783924, 0.6094071865081787, -0.9802014231681824, 0.9126802682876587, -0.44117647409439087, 0.8421072959899902, 1.128213882446289, -0.013699503615498543, 0.013699503615498543], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84592205286026, -0.8184558153152466, 0.951972246170044, 1.9625009298324585, -0.9988937377929688, -2.124246597290039, -0.0025683087296783924, 0.0025683087296783924, 0.6033035516738892, -0.9813458323478699, 0.9130617380142212, -0.44117647409439087, 0.8230335116386414, 1.1682689189910889, -7.833624295017216e-06, 7.833624295017216e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.846684992313385, -0.8173113465309143, 0.951972246170044, 1.958304762840271, -0.995078980922699, -2.1246280670166016, -0.0025683087296783924, 0.0025683087296783924, 0.5922408103942871, -0.9596017599105835, 0.9214541912078857, -0.44422826170921326, 0.813878059387207, 1.1934462785720825, -0.00010428895620862022, 0.00010428895620862022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8463035225868225, -0.8173113465309143, 0.9523537158966064, 1.959067702293396, -0.9962233901023865, -2.124246597290039, -0.0025683087296783924, 0.0025683087296783924, 0.5930037498474121, -0.9042877554893494, 0.9538795948028564, -0.44384679198265076, 0.8188372850418091, 1.1781872510910034, -0.00010428895620862022, 0.00010428895620862022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8447775840759277, -0.8173113465309143, 0.951209306716919, 1.9602121114730835, -0.9988937377929688, -2.124246597290039, -0.0025683087296783924, 0.0025683087296783924, 0.6048294901847839, -0.8310444951057434, 0.9874494671821594, -0.44117647409439087, 0.8531700372695923, 1.11142897605896, -0.00010428895620862022, 0.00010428895620862022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8443961143493652, -0.8173113465309143, 0.9481574892997742, 1.962882399559021, -0.9992752075195312, -2.1238651275634766, -0.0025683087296783924, 0.0025683087296783924, 0.6174181699752808, -0.7639048099517822, 1.0084306001663208, -0.4396505653858185, 0.9416723847389221, 1.0046159029006958, -0.00010428895620862022, 0.00010428895620862022], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8173113465309143, 0.9451056718826294, 1.963645339012146, -1.0000381469726562, -2.1238651275634766, -0.0025683087296783924, 0.0025683087296783924, 0.6242847442626953, -0.7291905283927917, 1.0118639469146729, -0.44155794382095337, 1.0854886770248413, 0.9206912517547607, -0.0003972939739469439, 0.0003972939739469439], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8432517051696777, -0.8173113465309143, 0.9451056718826294, 1.963645339012146, -0.9988937377929688, -2.1238651275634766, -0.0025683087296783924, 0.0025683087296783924, 0.6189440488815308, -0.7200350761413574, 0.9931715726852417, -0.44270238280296326, 1.2220568656921387, 0.8764400482177734, -0.02049068920314312, 0.02049068920314312], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8432517051696777, -0.8173113465309143, 0.9485389590263367, 1.963645339012146, -0.9962233901023865, -2.124246597290039, -0.0025683087296783924, 0.0025683087296783924, 0.5952925682067871, -0.7307164072990417, 0.9756237268447876, -0.44537270069122314, 1.2903410196304321, 0.8703364729881287, -0.028685854747891426, 0.028685854747891426], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8432517051696777, -0.8173113465309143, 0.951209306716919, 1.963645339012146, -0.9946975111961365, -2.1246280670166016, -0.0025683087296783924, 0.0025683087296783924, 0.5590524077415466, -0.7421606779098511, 0.9611276388168335, -0.44460976123809814, 1.3101778030395508, 0.8798733353614807, -0.028685854747891426, 0.028685854747891426], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8432517051696777, -0.8173113465309143, 0.952735185623169, 1.9632638692855835, -0.995841920375824, -2.1246280670166016, -0.0025683087296783924, 0.0025683087296783924, 0.5144197940826416, -0.7486457824707031, 0.9363317489624023, -0.44346532225608826, 1.269359827041626, 0.926413357257843, -0.02691677398979664, 0.02691677398979664], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8432517051696777, -0.8173113465309143, 0.953498125076294, 1.962882399559021, -1.0019454956054688, -2.1246280670166016, -0.0025683087296783924, 0.0025683087296783924, 0.47627222537994385, -0.7532234787940979, 0.8947508931159973, -0.44270238280296326, 1.1900129318237305, 1.0160601139068604, -0.02463565766811371, 0.02463565766811371], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8436331748962402, -0.8173113465309143, 0.9538795948028564, 1.9579232931137085, -1.0065232515335083, -2.1246280670166016, -0.0025683087296783924, 0.0025683087296783924, 0.4671168029308319, -0.763523280620575, 0.8520256280899048, -0.44193941354751587, 1.099603295326233, 1.1053253412246704, -0.023824594914913177, 0.023824594914913177], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8173113465309143, 0.9557870030403137, 1.9514381885528564, -1.0099564790725708, -2.125009536743164, -0.0025683087296783924, 0.0025683087296783924, 0.4865720570087433, -0.7860303521156311, 0.8264667987823486, -0.44117647409439087, 1.0152971744537354, 1.1747539043426514, -0.023784928023815155, 0.023784928023815155], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8169298768043518, 0.9573128819465637, 1.9457160234451294, -1.0107194185256958, -2.1253910064697266, -0.0025683087296783924, 0.0025683087296783924, 0.5231937170028687, -0.8169298768043518, 0.813115119934082, -0.44079500436782837, 0.9428167939186096, 1.2247272729873657, -0.023784928023815155, 0.023784928023815155], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8443961143493652, -0.8169298768043518, 0.9580758213996887, 1.9434272050857544, -1.0107194185256958, -2.127298355102539, -0.0025683087296783924, 0.0025683087296783924, 0.5621042251586914, -0.8470664620399475, 0.8062485456466675, -0.44079500436782837, 0.8737697601318359, 1.258297085762024, -0.023765090852975845, 0.023765090852975845], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84592205286026, -0.8169298768043518, 0.9584572911262512, 1.9480048418045044, -1.0183489322662354, -2.1269168853759766, -0.0025683087296783924, 0.0025683087296783924, 0.5998703241348267, -0.8707179427146912, 0.8020523190498352, -0.44117647409439087, 0.7963302135467529, 1.2914854288101196, -0.023715490475296974, 0.023715490475296974], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, -0.8169298768043518, 0.9584572911262512, 1.9487677812576294, -1.0191118717193604, -2.126535415649414, -0.0025683087296783924, 0.0025683087296783924, 0.6315327882766724, -0.8852140307426453, 0.8005264401435852, -0.44270238280296326, 0.7200350761413574, 1.3197146654129028, -0.02095807157456875, 0.02095807157456875], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8504997491836548, -0.8169298768043518, 0.9596017599105835, 1.9487677812576294, -1.0194933414459229, -2.126535415649414, -0.0025683087296783924, 0.0025683087296783924, 0.6513695120811462, -0.8951323628425598, 0.7997635006904602, -0.44460976123809814, 0.655184268951416, 1.347943902015686, -0.012886940501630306, 0.012886940501630306], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, -0.8165484070777893, 0.959983229637146, 1.9464789628982544, -1.019874930381775, -2.126535415649414, -0.0025683087296783924, 0.0025683087296783924, 0.656710147857666, -0.9004730582237244, 0.7997635006904602, -0.44422826170921326, 0.613603413105011, 1.3643473386764526, -0.004154782742261887, 0.004154782742261887], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8527885675430298, -0.8169298768043518, 0.9611276388168335, 1.9346532821655273, -1.0175859928131104, -2.125772476196289, -0.0025683087296783924, 0.0025683087296783924, 0.6506065726280212, -0.9031433463096619, 0.7997635006904602, -0.4396505653858185, 0.6029220819473267, 1.3773174285888672, -0.00023680592130403966, 0.00023680592130403966], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, -0.8165484070777893, 0.961509108543396, 1.9293125867843628, -1.0145342350006104, -2.125772476196289, -0.002573092235252261, 0.002573092235252261, 0.6395437717437744, -0.9008545279502869, 0.804341197013855, -0.4377431869506836, 0.6094071865081787, 1.3841840028762817, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8531700372695923, -0.8161669373512268, 0.960746169090271, 1.9266422986984253, -1.0088120698928833, -2.1276798248291016, -0.0025683087296783924, 0.0025683087296783924, 0.6288624405860901, -0.8787289261817932, 0.8241779208183289, -0.44079500436782837, 0.6239032745361328, 1.3803693056106567, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8520256280899048, -0.8161669373512268, 0.9588387608528137, 1.9174867868423462, -1.0061417818069458, -2.128061294555664, -0.0025683087296783924, 0.0025683087296783924, 0.619325578212738, -0.8371480703353882, 0.8623254895210266, -0.4404135048389435, 0.6338216066360474, 1.353284478187561, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8478294014930725, -0.8161669373512268, 0.9554055333137512, 1.9296940565109253, -1.0160601139068604, -2.127298355102539, -0.0025683087296783924, 0.0025683087296783924, 0.6036850810050964, -0.7875562906265259, 0.9096284508705139, -0.44079500436782837, 0.6403067111968994, 1.3178073167800903, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8443961143493652, -0.8161669373512268, 0.9523537158966064, 1.9304569959640503, -1.0149157047271729, -2.1269168853759766, -0.0025683087296783924, 0.0025683087296783924, 0.5830853581428528, -0.7372015118598938, 0.9618905782699585, -0.44079500436782837, 0.6403067111968994, 1.2804226875305176, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8440146446228027, -0.8161669373512268, 0.9481574892997742, 1.9300755262374878, -1.0149157047271729, -2.126535415649414, -0.0025683087296783924, 0.0025683087296783924, 0.5605783462524414, -0.689517080783844, 1.0164415836334229, -0.44117647409439087, 0.6219958662986755, 1.2502861022949219, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8348592519760132, -0.8161669373512268, 0.9393835067749023, 1.9323643445968628, -1.0168230533599854, -2.1246280670166016, -0.0025635280180722475, 0.0025635280180722475, 0.5296788215637207, -0.6467918157577515, 1.0790035724639893, -0.44117647409439087, 0.5884260535240173, 1.2232013940811157, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8150225281715393, -0.8161669373512268, 0.9214541912078857, 1.9312199354171753, -1.0152971744537354, -2.125009536743164, -0.0025635280180722475, 0.0025635280180722475, 0.49229419231414795, -0.613603413105011, 1.1507209539413452, -0.44079500436782837, 0.5571450591087341, 1.1999313831329346, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7795453071594238, -0.8161669373512268, 0.8901731967926025, 1.9258793592453003, -1.0133898258209229, -2.1246280670166016, -0.0025683087296783924, 0.0025683087296783924, 0.4499503970146179, -0.5903334021568298, 1.2182421684265137, -0.44079500436782837, 0.5262455344200134, 1.1827648878097534, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7234683632850647, -0.8161669373512268, 0.8520256280899048, 1.9071869850158691, -1.0008010864257812, -2.1192874908447266, -0.0025683087296783924, 0.0025683087296783924, 0.4056992530822754, -0.5670633912086487, 1.268596887588501, -0.4404135048389435, 0.49038681387901306, 1.1537728309631348, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6422140598297119, -0.8161669373512268, 0.812352180480957, 1.8545433282852173, -0.9908827543258667, -2.0895323753356934, -0.0025635280180722475, 0.0025635280180722475, 0.3553444743156433, -0.5498970150947571, 1.2857633829116821, -0.4404135048389435, 0.4819943606853485, 1.1079957485198975, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5640115737915039, -0.8161669373512268, 0.7810711860656738, 1.7820630073547363, -0.9744792580604553, -2.0555810928344727, -0.0025635280180722475, 0.0025635280180722475, 0.28439003229141235, -0.5415045619010925, 1.2594414949417114, -0.44079500436782837, 0.5304417610168457, 1.0709925889968872, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.509079098701477, -0.8134965896606445, 0.7562752962112427, 1.7099641561508179, -0.9626535177230835, -2.0250630378723145, -0.0025635280180722475, 0.0025635280180722475, 0.21000228822231293, -0.5384527444839478, 1.184290885925293, -0.44155794382095337, 0.5991073250770569, 1.052681803703308, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47932401299476624, -0.8089188933372498, 0.7391088604927063, 1.6618982553482056, -0.9473945498466492, -2.0105669498443604, -0.0025635280180722475, 0.0025635280180722475, 0.12111848592758179, -0.5388342142105103, 1.0648889541625977, -0.44499123096466064, 0.6708247661590576, 1.036659836769104, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46215763688087463, -0.8047226667404175, 0.728427529335022, 1.6359578371047974, -0.9374761581420898, -2.0037002563476562, -0.0025635280180722475, 0.0025635280180722475, 0.030708782374858856, -0.5395971536636353, 0.916876494884491, -0.44689860939979553, 0.7314793467521667, 1.0191118717193604, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4499503970146179, -0.8024337887763977, 0.7188906669616699, 1.6191729307174683, -0.9306095838546753, -1.9995040893554688, -0.0025635280180722475, 0.0025635280180722475, -0.02689402550458908, -0.5399786233901978, 0.7810711860656738, -0.4556725323200226, 0.7623788714408875, 0.9985122680664062, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4373617172241211, -0.8005264401435852, 0.7104982137680054, 1.6100175380706787, -0.927176296710968, -1.9995040893554688, -0.0025635280180722475, 0.0025635280180722475, -0.03528648987412453, -0.5483710765838623, 0.6879911422729492, -0.5693522691726685, 0.7616159319877625, 1.0217822790145874, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4247730076313019, -0.7864118218421936, 0.6960021257400513, 1.6065843105316162, -0.916113555431366, -2.0002670288085938, -0.0025683087296783924, 0.0025683087296783924, 0.00667582219466567, -0.5827038884162903, 0.6387808322906494, -0.8257037997245789, 0.767719566822052, 1.1339360475540161, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.41065841913223267, -0.7516975402832031, 0.6704432964324951, 1.6031509637832642, -0.8813992738723755, -2.0250630378723145, -0.0025635280180722475, 0.0025635280180722475, 0.051689937710762024, -0.6376363635063171, 0.6147478222846985, -1.0854886770248413, 0.8211261034011841, 1.2403677701950073, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3896772861480713, -0.7150759100914001, 0.6456473469734192, 1.5955214500427246, -0.8367666006088257, -2.0548181533813477, -0.0025635280180722475, 0.0025635280180722475, 0.08449683338403702, -0.7101167440414429, 0.6074998378753662, -1.2628748416900635, 0.9061951637268066, 1.3029297590255737, -0.00023336759477388114, 0.00023336759477388114], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3686961233615875, -0.6944762468338013, 0.6292439103126526, 1.5810253620147705, -0.8073930144309998, -2.0716030597686768, -0.0025635280180722475, 0.0025635280180722475, 0.11768520623445511, -0.7784008383750916, 0.6074998378753662, -1.3651102781295776, 0.9874494671821594, 1.3376439809799194, -0.0008188050123862922, 0.0008188050123862922], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.35229265689849854, -0.6849393248558044, 0.6197070479393005, 1.5569924116134644, -0.7925154566764832, -2.0815212726593018, -0.0025635280180722475, 0.0025635280180722475, 0.14667734503746033, -0.8207446336746216, 0.6124590039253235, -1.421950101852417, 1.0206378698349, 1.3681620359420776, -0.02224317193031311, 0.02224317193031311], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3290226459503174, -0.6795986890792847, 0.6139848828315735, 1.5203708410263062, -0.7856488823890686, -2.088387966156006, -0.0025635280180722475, 0.0025635280180722475, 0.16231784224510193, -0.8424887657165527, 0.6326771974563599, -1.4589532613754272, 1.031700611114502, 1.3956283330917358, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28896772861480713, -0.6773098111152649, 0.5983443856239319, 1.4616235494613647, -0.7845044732093811, -2.096017360687256, -0.0025635280180722475, 0.0025635280180722475, 0.17147326469421387, -0.8524070978164673, 0.6616693139076233, -1.4795528650283813, 1.040474534034729, 1.418135404586792, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22297245264053345, -0.6757839322090149, 0.5594338774681091, 1.3925764560699463, -0.7848859429359436, -2.1154725551605225, -0.0025635280180722475, 0.0025635280180722475, 0.1958876997232437, -0.8516441583633423, 0.6799801588058472, -1.4917601346969604, 1.041237473487854, 1.4497978687286377, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12645913660526276, -0.6746395230293274, 0.5132753252983093, 1.3258183002471924, -0.7822155952453613, -2.1406500339508057, -0.0025635280180722475, 0.0025635280180722475, 0.24319066107273102, -0.848210871219635, 0.6879911422729492, -1.4982452392578125, 1.0442893505096436, 1.4787899255752563, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04711223021149635, -0.6746395230293274, 0.4850461483001709, 1.3097963333129883, -0.7837415337562561, -2.189478874206543, -0.0025635280180722475, 0.0025635280180722475, 0.308804452419281, -0.84592205286026, 0.691805899143219, -1.5005340576171875, 1.048485517501831, 1.4974822998046875, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.019645990803837776, -0.6746395230293274, 0.4701686203479767, 1.340695858001709, -0.8192187547683716, -2.2764554023742676, -0.0025635280180722475, 0.0025635280180722475, 0.38319218158721924, -0.8447775840759277, 0.693331778049469, -1.5035858154296875, 1.0488669872283936, 1.512359857559204, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07724879682064056, -0.6757839322090149, 0.4690241813659668, 1.3658732175827026, -0.8680475950241089, -2.352750539779663, -0.0025635280180722475, 0.0025635280180722475, 0.4526207447052002, -0.8443961143493652, 0.6940947771072388, -1.5035858154296875, 1.047722578048706, 1.5245670080184937, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.10471503436565399, -0.6872282028198242, 0.47512778639793396, 1.3853284120559692, -0.9081025123596191, -2.4099717140197754, -0.0025635280180722475, 0.0025635280180722475, 0.5022125840187073, -0.8443961143493652, 0.6940947771072388, -1.505111813545227, 1.040474534034729, 1.5367742776870728, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.09937438368797302, -0.7131685614585876, 0.4800869822502136, 1.41470205783844, -0.9370946884155273, -2.4572746753692627, -0.0025635280180722475, 0.0025635280180722475, 0.535400927066803, -0.8443961143493652, 0.6940947771072388, -1.5070191621780396, 1.0393301248550415, 1.5379186868667603, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07457847148180008, -0.7513160705566406, 0.4846646785736084, 1.4547569751739502, -0.9504463076591492, -2.499237060546875, -0.0025635280180722475, 0.0025635280180722475, 0.5495155453681946, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0400930643081665, 1.5405889749526978, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0555046908557415, -0.7906080484390259, 0.4858091175556183, 1.4806973934173584, -0.9500648379325867, -2.540817975997925, -0.002558749634772539, 0.002558749634772539, 0.5544747114181519, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.048485517501831, 1.5363928079605103, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03833829239010811, -0.811589241027832, 0.49038681387901306, 1.4761196374893188, -0.9122987985610962, -2.578202486038208, -0.002558749634772539, 0.002558749634772539, 0.5544747114181519, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0538262128829956, 1.5291447639465332, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.020027466118335724, -0.8272297382354736, 0.5029755234718323, 1.4696345329284668, -0.8829251527786255, -2.6224536895751953, -0.002558749634772539, 0.002558749634772539, 0.5544747114181519, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0545891523361206, 1.5249484777450562, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.005912871100008488, -0.8443961143493652, 0.5235751867294312, 1.4669642448425293, -0.8653773069381714, -2.6628899574279785, -0.002558749634772539, 0.002558749634772539, 0.5498970150947571, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0545891523361206, 1.517700433731079, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.004005493130534887, -0.8596551418304443, 0.5483710765838623, 1.481078863143921, -0.8604180812835693, -2.6941709518432617, -0.002558749634772539, 0.002558749634772539, 0.5392156839370728, -0.8440146446228027, 0.6940947771072388, -1.5077821016311646, 1.0553520917892456, 1.509689450263977, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.009346150793135166, -0.8749141693115234, 0.5685893297195435, 1.516174554824829, -0.8726252913475037, -2.7151522636413574, -0.0025539740454405546, 0.0025539740454405546, 0.5262455344200134, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.055733561515808, 1.50244140625, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.01125352829694748, -0.8909361362457275, 0.5823224186897278, 1.5569924116134644, -0.8955138325691223, -2.7273595333099365, -0.002520616166293621, 0.002520616166293621, 0.5140383243560791, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0545891523361206, 1.4955748319625854, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012397955171763897, -0.9061951637268066, 0.5926222801208496, 1.5875104665756226, -0.9195467829704285, -2.734607458114624, -0.002520616166293621, 0.002520616166293621, 0.5064088106155396, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0465781688690186, 1.492141604423523, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012397955171763897, -0.9206912517547607, 0.6006332635879517, 1.6084916591644287, -0.9290837049484253, -2.7349889278411865, -0.002520616166293621, 0.002520616166293621, 0.5045014023780823, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0385671854019165, 1.492141604423523, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012397955171763897, -0.9409094452857971, 0.6094071865081787, 1.6210802793502808, -0.9451056718826294, -2.730792760848999, -0.002525374060496688, 0.002525374060496688, 0.5048828721046448, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0313191413879395, 1.492141604423523, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012397955171763897, -0.9580758213996887, 0.6162737607955933, 1.6287097930908203, -0.9561684727668762, -2.72468900680542, -0.002597047481685877, 0.002597047481685877, 0.5041199326515198, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0275044441223145, 1.4917601346969604, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.012397955171763897, -0.9683756828308105, 0.620851457118988, 1.6313802003860474, -0.959220290184021, -2.72316312789917, -0.003872932167723775, 0.003872932167723775, 0.4953460097312927, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0263599157333374, 1.490615725517273, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.009727626107633114, -0.9729533791542053, 0.6258106231689453, 1.6165026426315308, -0.953498125076294, -2.7166781425476074, -0.013663418591022491, 0.013663418591022491, 0.4854276478290558, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.02521550655365, 1.484130620956421, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.000572213320992887, -0.969520092010498, 0.6326771974563599, 1.6035324335098267, -0.9554055333137512, -2.6865415573120117, -0.034, 0.034, 0.47856107354164124, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0248340368270874, 1.4803158044815063, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0036240178160369396, -0.9470130205154419, 0.6368734240531921, 1.5810253620147705, -0.9504463076591492, -2.6483938694000244, -0.034, 0.034, 0.47627222537994385, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0240710973739624, 1.4757381677627563, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.01888304017484188, -0.9054322242736816, 0.6280995011329651, 1.569581151008606, -0.9393835067749023, -2.611772298812866, -0.034, 0.034, 0.47741663455963135, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 1.0152971744537354, 1.4730678796768188, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.04901960864663124, -0.8577477931976318, 0.6132219433784485, 1.5253299474716187, -0.9260318875312805, -2.5541694164276123, -0.034, 0.034, 0.4804684519767761, -0.8440146446228027, 0.6940947771072388, -1.5070191621780396, 1.0061417818069458, 1.4730678796768188, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08030059933662415, -0.8096818327903748, 0.5991073250770569, 1.4791713953018188, -0.919165313243866, -2.4813077449798584, -0.034, 0.034, 0.4861905872821808, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 0.9977492690086365, 1.4730678796768188, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08335240930318832, -0.7597085237503052, 0.5857557058334351, 1.4501793384552002, -0.9081025123596191, -2.3947126865386963, -0.014759749174118042, 0.014759749174118042, 0.49114975333213806, -0.8440146446228027, 0.6940947771072388, -1.507400631904602, 0.9882124066352844, 1.4726864099502563, -0.034, 0.034], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.018120087683200836, -0.7040131092071533, 0.5773632526397705, 1.4669642448425293, -0.8787289261817932, -2.326810121536255, -0.0, 0.0, 0.4972533881664276, -0.8440146446228027, 0.6940947771072388, -1.5070191621780396, 0.9824903011322021, 1.4681086540222168, -0.014153286814689636, 0.014153286814689636], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11768520623445511, -0.6391623020172119, 0.5739299654960632, 1.5581368207931519, -0.8413442969322205, -2.3187990188598633, -0.0, 0.0, 0.5086976289749146, -0.841725766658783, 0.6940947771072388, -1.5077821016311646, 0.9775310754776001, 1.4490348100662231, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28706035017967224, -0.5823224186897278, 0.576981782913208, 1.7221713066101074, -0.8096818327903748, -2.3722057342529297, -0.0, 0.0, 0.5258640646934509, -0.8260852694511414, 0.693331778049469, -1.5070191621780396, 0.961509108543396, 1.4272907972335815, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.44766154885292053, -0.5376898050308228, 0.5823224186897278, 1.898413062095642, -0.7799267768859863, -2.423323392868042, -0.0, 0.0, 0.5380712747573853, -0.7768749594688416, 0.6811245679855347, -1.5070191621780396, 0.916876494884491, 1.4230945110321045, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5674448609352112, -0.4964904189109802, 0.5815594792366028, 2.0403220653533936, -0.7421606779098511, -2.4465935230255127, -0.0, 0.0, 0.5533303022384644, -0.6799801588058472, 0.6521324515342712, -1.506637692451477, 0.8318074345588684, 1.4238574504852295, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6464102864265442, -0.44232088327407837, 0.5582894682884216, 2.1276798248291016, -0.654421329498291, -2.434004783630371, -0.0, 0.0, 0.571259617805481, -0.5708781480789185, 0.615129292011261, -1.5070191621780396, 0.7383459210395813, 1.426146388053894, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6921873688697815, -0.37823301553726196, 0.5140383243560791, 2.180323600769043, -0.5197604298591614, -2.392805337905884, -0.0, 0.0, 0.5937666893005371, -0.4655908942222595, 0.5739299654960632, -1.5070191621780396, 0.654421329498291, 1.4497978687286377, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7185091972351074, -0.31757840514183044, 0.46330204606056213, 2.207026720046997, -0.3999771177768707, -2.3554208278656006, -0.0, 0.0, 0.6330586671829224, -0.34733349084854126, 0.5121309161186218, -1.5070191621780396, 0.5514228940010071, 1.481078863143921, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7314793467521667, -0.2660791873931885, 0.422102689743042, 2.214656352996826, -0.33283740282058716, -2.33520245552063, -0.0, 0.0, 0.6837949156761169, -0.23899443447589874, 0.4365987777709961, -1.5062562227249146, 0.4327840209007263, 1.513885736465454, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7459754347801208, -0.22220951318740845, 0.3931105434894562, 2.209315538406372, -0.2904936373233795, -2.3050661087036133, -0.0, 0.0, 0.7375829815864563, -0.14209964871406555, 0.34809643030166626, -1.505874752998352, 0.308041512966156, 1.5485999584197998, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7726787328720093, -0.1844434291124344, 0.3740367889404297, 2.1974899768829346, -0.26798656582832336, -2.268444299697876, -0.0, 0.0, 0.7791637778282166, -0.06237125024199486, 0.25616082549095154, -1.5035858154296875, 0.20084688067436218, 1.571869969367981, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8062485456466675, -0.1516365259885788, 0.36488136649131775, 2.1875715255737305, -0.2603570520877838, -2.2383077144622803, -0.0, 0.0, 0.7887006998062134, -0.0032425422687083483, 0.1813916265964508, -1.5047303438186646, 0.12722209095954895, 1.595139980316162, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8398184180259705, -0.12607766687870026, 0.36373692750930786, 2.183375358581543, -0.26951247453689575, -2.219996929168701, -0.0, 0.0, 0.7879377603530884, 0.02880140393972397, 0.12417028844356537, -1.505111813545227, 0.08258945494890213, 1.6229877471923828, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8707179427146912, -0.10852979123592377, 0.36488136649131775, 2.180323600769043, -0.2924010157585144, -2.197871446609497, -0.0, 0.0, 0.7906080484390259, 0.04558632895350456, 0.07877469807863235, -1.506637692451477, 0.03223468363285065, 1.6474021673202515, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.89131760597229, -0.09288929402828217, 0.3686961233615875, 2.1791789531707764, -0.3221561014652252, -2.168879270553589, -0.0, 0.0, 0.7921339869499207, 0.05245288833975792, 0.04406042397022247, -1.506637692451477, -0.001716639962978661, 1.660753846168518, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9012359976768494, -0.08106355369091034, 0.3732738196849823, 2.1746013164520264, -0.35114824771881104, -2.1482794284820557, -0.0, 0.0, 0.805867075920105, 0.04940108209848404, 0.013542382046580315, -1.506637692451477, -0.03757534176111221, 1.6603723764419556, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9073395729064941, -0.06961929053068161, 0.3763256371021271, 2.164301633834839, -0.36793315410614014, -2.139505624771118, -0.0, 0.0, 0.8272297382354736, 0.04291599988937378, -0.004386968910694122, -1.506637692451477, -0.06694895774126053, 1.640535593032837, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9077210426330566, -0.06389715522527695, 0.36907759308815, 2.1532387733459473, -0.3747997283935547, -2.1337835788726807, -0.0, 0.0, 0.8455405235290527, 0.03757534176111221, -0.013923857361078262, -1.5062562227249146, -0.07686731964349747, 1.6172655820846558, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9050507545471191, -0.045204851776361465, 0.33588922023773193, 2.1353094577789307, -0.34885939955711365, -2.128061294555664, -0.0, 0.0, 0.8661402463912964, 0.03528648987412453, -0.018120087683200836, -1.506637692451477, -0.09060044586658478, 1.592088222503662, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8863584399223328, -0.01888304017484188, 0.28515297174453735, 2.1276798248291016, -0.28477150201797485, -2.1505684852600098, -0.0, 0.0, 0.8775845170021057, 0.03376058489084244, -0.02079041674733162, -1.506637692451477, -0.09441519528627396, 1.5756847858428955, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8512626886367798, 0.013160906732082367, 0.22564278542995453, 2.125772476196289, -0.2161058932542801, -2.1944379806518555, -0.0, 0.0, 0.8836880922317505, 0.032616160809993744, -0.02231631986796856, -1.5070191621780396, -0.09746700525283813, 1.562333106994629, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8192187547683716, 0.0398641936480999, 0.1680399775505066, 2.1200504302978516, -0.15506981313228607, -2.2322041988372803, -0.0, 0.0, 0.8859769701957703, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.09822995215654373, 1.560044288635254, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7974746227264404, 0.053215838968753815, 0.11577782779932022, 2.1200504302978516, -0.08525978773832321, -2.254711151123047, -0.0, 0.0, 0.8894102573394775, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.09899290651082993, 1.5547035932540894, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7837415337562561, 0.0555046908557415, 0.071908138692379, 2.1192874908447266, -0.026131074875593185, -2.269970178604126, -0.0, 0.0, 0.88979172706604, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.10051880776882172, 1.5547035932540894, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7784008383750916, 0.05207141116261482, 0.039101243019104004, 2.11661696434021, 0.012779430486261845, -2.28141450881958, -0.0, 0.0, 0.88979172706604, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.10090028494596481, 1.5543221235275269, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.775730550289154, 0.050164032727479935, 0.01583123579621315, 2.137979745864868, 0.0551232174038887, -2.28904390335083, -0.0, 0.0, 0.8894102573394775, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.10090028494596481, 1.5539406538009644, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7742046117782593, 0.04406042397022247, -0.008964675478637218, 2.1715495586395264, 0.09594109654426575, -2.293621778488159, -0.0, 0.0, 0.889028787612915, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.10128175467252731, 1.5527962446212769, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7738231420516968, 0.03681239113211632, -0.03032730519771576, 2.204737901687622, 0.13942931592464447, -2.2932403087615967, -0.0, 0.0, 0.889028787612915, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.10090028494596481, 1.5512703657150269, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7738231420516968, 0.03185320645570755, -0.040627144277095795, 2.2314412593841553, 0.17032882571220398, -2.293621778488159, -0.0, 0.0, 0.889028787612915, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.10090028494596481, 1.5516518354415894, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7742046117782593, 0.02841992862522602, -0.04596780240535736, 2.246318817138672, 0.18558785319328308, -2.293621778488159, -0.0, 0.0, 0.889028787612915, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.10128175467252731, 1.5516518354415894, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.776493489742279, 0.026512550190091133, -0.04901960864663124, 2.260814905166626, 0.19512474536895752, -2.2962920665740967, -0.0, 0.0, 0.8875028491020203, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.10128175467252731, 1.5516518354415894, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7814526557922363, 0.025749599561095238, -0.050164032727479935, 2.2711145877838135, 0.1997024416923523, -2.2970550060272217, -0.0, 0.0, 0.8844510316848755, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.10128175467252731, 1.5554665327072144, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7871748208999634, 0.02536812424659729, -0.05092698708176613, 2.2802700996398926, 0.20275425910949707, -2.297436475753784, -0.0, 0.0, 0.8722438216209412, 0.03223468363285065, -0.02231631986796856, -1.5062562227249146, -0.10128175467252731, 1.569581151008606, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7890821695327759, 0.024605173617601395, -0.05092698708176613, 2.28599214553833, 0.20313572883605957, -2.300488233566284, -0.0, 0.0, 0.8497368097305298, 0.03185320645570755, -0.02231631986796856, -1.506637692451477, -0.10128175467252731, 1.5981918573379517, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7909895181655884, 0.024223696440458298, -0.05092698708176613, 2.2871365547180176, 0.20656901597976685, -2.300488233566284, -0.0, 0.0, 0.8287556171417236, 0.03223468363285065, -0.02231631986796856, -1.5062562227249146, -0.10166323184967041, 1.6241321563720703, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7906080484390259, 0.024223696440458298, -0.05054550990462303, 2.289807081222534, 0.20618753135204315, -2.301251173019409, -0.0, 0.0, 0.8211261034011841, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.10204470902681351, 1.641298532485962, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7902265787124634, 0.024223696440458298, -0.049782559275627136, 2.2901885509490967, 0.20313572883605957, -2.3065919876098633, -0.0, 0.0, 0.8161669373512268, 0.03185320645570755, -0.02231631986796856, -1.506637692451477, -0.10204470902681351, 1.648546576499939, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7879377603530884, 0.024223696440458298, -0.049782559275627136, 2.2901885509490967, 0.20237277448177338, -2.3088808059692383, -0.0, 0.0, 0.813115119934082, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.10204470902681351, 1.652742862701416, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7875562906265259, 0.024223696440458298, -0.049782559275627136, 2.2901885509490967, 0.20084688067436218, -2.3119325637817383, -0.0, 0.0, 0.8119707107543945, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.1024261862039566, 1.656557559967041, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7879377603530884, 0.024223696440458298, -0.049782559275627136, 2.2901885509490967, 0.1989395022392273, -2.311551094055176, -0.0, 0.0, 0.810826301574707, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.1024261862039566, 1.657320499420166, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7959487438201904, 0.031090257689356804, -0.054741740226745605, 2.242504119873047, 0.19474326074123383, -2.2619593143463135, -0.0, 0.0, 0.810826301574707, 0.03185320645570755, -0.02231631986796856, -1.5062562227249146, -0.1028076633810997, 1.6603723764419556, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8104447722434998, 0.057793546468019485, -0.06618601083755493, 2.094491481781006, 0.18635080754756927, -2.1192874908447266, -0.0, 0.0, 0.8104447722434998, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1028076633810997, 1.6603723764419556, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8306630253791809, 0.07991912961006165, -0.07495994865894318, 1.9529640674591064, 0.17872129380702972, -1.9747081995010376, -0.0, 0.0, 0.810826301574707, 0.03185320645570755, -0.022697795182466507, -1.506637692451477, -0.1028076633810997, 1.6603723764419556, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.840199887752533, 0.09098191559314728, -0.07991912961006165, 1.8606469631195068, 0.17223620414733887, -1.879339337348938, -0.0, 0.0, 0.8104447722434998, 0.03185320645570755, -0.02231631986796856, -1.506637692451477, -0.1028076633810997, 1.6603723764419556, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.846684992313385, 0.09784847497940063, -0.08220797777175903, 1.8095293045043945, 0.17223620414733887, -1.8259327411651611, -0.0, 0.0, 0.810826301574707, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.1028076633810997, 1.6599907875061035, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.10128175467252731, -0.08297093212604523, 1.7774853706359863, 0.16880293190479279, -1.7935073375701904, -0.0, 0.0, 0.8104447722434998, 0.03185320645570755, -0.022697795182466507, -1.506637692451477, -0.1028076633810997, 1.6599907875061035, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.10166323184967041, -0.08297093212604523, 1.7610818147659302, 0.1661325991153717, -1.7778668403625488, -0.0, 0.0, 0.810826301574707, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1028076633810997, 1.6599907875061035, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.10204470902681351, -0.08297093212604523, 1.7626078128814697, 0.16422522068023682, -1.7763408422470093, -0.0, 0.0, 0.810826301574707, 0.03223468363285065, -0.02231631986796856, -1.506637692451477, -0.1024261862039566, 1.6599907875061035, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.10204470902681351, -0.08297093212604523, 1.7797741889953613, 0.16384375095367432, -1.7858778238296509, -0.0, 0.0, 0.8100633025169373, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1028076633810997, 1.6599907875061035, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8524070978164673, 0.10204470902681351, -0.08297093212604523, 1.7881666421890259, 0.16269932687282562, -1.7942702770233154, -0.00025402967003174126, 0.00025402967003174126, 0.8096818327903748, 0.03223468363285065, -0.02231631986796856, -1.5062562227249146, -0.1024261862039566, 1.6599907875061035, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, 0.10128175467252731, -0.08297093212604523, 1.7923628091812134, 0.16117341816425323, -1.7988479137420654, -0.00025402967003174126, 0.00025402967003174126, 0.8096818327903748, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1024261862039566, 1.659609317779541, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, 0.10090028494596481, -0.08258945494890213, 1.796940565109253, 0.16155488789081573, -1.8030441999435425, -0.00025402967003174126, 0.00025402967003174126, 0.8096818327903748, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1024261862039566, 1.659609317779541, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, 0.10051880776882172, -0.08258945494890213, 1.798466444015503, 0.16155488789081573, -1.8038071393966675, -0.00025402967003174126, 0.00025402967003174126, 0.8096818327903748, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1024261862039566, 1.659609317779541, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, 0.10013733059167862, -0.08220797777175903, 1.7988479137420654, 0.16231784224510193, -1.80571448802948, -0.00025402967003174126, 0.00025402967003174126, 0.8096818327903748, 0.03185320645570755, -0.022697795182466507, -1.506637692451477, -0.1024261862039566, 1.659609317779541, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, 0.09937438368797302, -0.08220797777175903, 1.7988479137420654, 0.16422522068023682, -1.8060959577560425, -0.00025402967003174126, 0.00025402967003174126, 0.8100633025169373, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1024261862039566, 1.6592278480529785, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8535515666007996, 0.09937438368797302, -0.08220797777175903, 1.799229383468628, 0.16422522068023682, -1.8060959577560425, -0.00025402967003174126, 0.00025402967003174126, 0.8096818327903748, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1024261862039566, 1.659609317779541, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8531700372695923, 0.09937438368797302, -0.08220797777175903, 1.801899790763855, 0.16422522068023682, -1.8068588972091675, -0.00025402967003174126, 0.00025402967003174126, 0.8100633025169373, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1024261862039566, 1.6592278480529785, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8531700372695923, 0.09937438368797302, -0.08220797777175903, 1.80266273021698, 0.16422522068023682, -1.80724036693573, -0.00025402967003174126, 0.00025402967003174126, 0.8096818327903748, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1024261862039566, 1.6592278480529785, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8531700372695923, 0.09937438368797302, -0.08220797777175903, 1.8022812604904175, 0.16422522068023682, -1.8095293045043945, -0.00025402967003174126, 0.00025402967003174126, 0.8096818327903748, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1024261862039566, 1.6592278480529785, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8531700372695923, 0.09937438368797302, -0.08220797777175903, 1.8022812604904175, 0.16422522068023682, -1.809147834777832, -0.00025402967003174126, 0.00025402967003174126, 0.8096818327903748, 0.03223468363285065, -0.02231631986796856, -1.5062562227249146, -0.1024261862039566, 1.6592278480529785, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8531700372695923, 0.09937438368797302, -0.08220797777175903, 1.8022812604904175, 0.16422522068023682, -1.809147834777832, -0.00025402967003174126, 0.00025402967003174126, 0.8096818327903748, 0.03223468363285065, -0.022697795182466507, -1.506637692451477, -0.1024261862039566, 1.6592278480529785, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8527885675430298, 0.09937438368797302, -0.08220797777175903, 1.801899790763855, 0.16384375095367432, -1.809147834777832, -0.00025402967003174126, 0.00025402967003174126, 0.8100633025169373, 0.03223468363285065, -0.024605173617601395, -1.506637692451477, -0.1035706102848053, 1.6592278480529785, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09937438368797302, -0.08220797777175903, 1.8015183210372925, 0.16384375095367432, -1.809147834777832, -0.00025402967003174126, 0.00025402967003174126, 0.8096818327903748, 0.05092698708176613, -0.03757534176111221, -1.5062562227249146, -0.11005569249391556, 1.6519798040390015, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09899290651082993, -0.08220797777175903, 1.80113685131073, 0.16384375095367432, -1.809147834777832, -0.00025402967003174126, 0.00025402967003174126, 0.8173113465309143, 0.10776684433221817, -0.058175019919872284, -1.5062562227249146, -0.12722209095954895, 1.6294728517532349, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09822995215654373, -0.08144503086805344, 1.80113685131073, 0.16384375095367432, -1.809147834777832, -0.00025058063329197466, 0.00025058063329197466, 0.8226520419120789, 0.14095520973205566, -0.0707637146115303, -1.5062562227249146, -0.12684062123298645, 1.6134508848190308, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09746700525283813, -0.08144503086805344, 1.80113685131073, 0.16384375095367432, -1.809910774230957, -0.00025058063329197466, 0.00025058063329197466, 0.8260852694511414, 0.15850308537483215, -0.07763027399778366, -1.506637692451477, -0.12722209095954895, 1.6027694940567017, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09670405089855194, -0.08144503086805344, 1.8015183210372925, 0.16384375095367432, -1.8133440017700195, -0.00024713375023566186, 0.00024713375023566186, 0.8287556171417236, 0.1672770231962204, -0.08030059933662415, -1.506637692451477, -0.12798504531383514, 1.5962843894958496, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09670405089855194, -0.08106355369091034, 1.8015183210372925, 0.16384375095367432, -1.8133440017700195, -0.00024713375023566186, 0.00024713375023566186, 0.8295185565948486, 0.1668955534696579, -0.08068207651376724, -1.506637692451477, -0.12836651504039764, 1.5947585105895996, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09632257372140884, -0.08106355369091034, 1.801899790763855, 0.16422522068023682, -1.813725471496582, -0.00024713375023566186, 0.00024713375023566186, 0.8295185565948486, 0.15964750945568085, -0.07877469807863235, -1.506637692451477, -0.12836651504039764, 1.592851161956787, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09594109654426575, -0.08106355369091034, 1.801899790763855, 0.16422522068023682, -1.8141069412231445, -0.00024713375023566186, 0.00024713375023566186, 0.8295185565948486, 0.15545128285884857, -0.07724879682064056, -1.506637692451477, -0.12836651504039764, 1.5932326316833496, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09594109654426575, -0.08106355369091034, 1.801899790763855, 0.16422522068023682, -1.815251350402832, -0.00024713375023566186, 0.00024713375023566186, 0.8291370868682861, 0.1527809500694275, -0.07648584991693497, -1.506637692451477, -0.12836651504039764, 1.5962843894958496, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09555962681770325, -0.08068207651376724, 1.801899790763855, 0.16422522068023682, -1.8167773485183716, -0.00024713375023566186, 0.00024713375023566186, 0.8291370868682861, 0.1520180106163025, -0.07610437273979187, -1.506637692451477, -0.12836651504039764, 1.5962843894958496, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09517814964056015, -0.08068207651376724, 1.801899790763855, 0.16422522068023682, -1.817158818244934, -0.00024713375023566186, 0.00024713375023566186, 0.8291370868682861, 0.1516365259885788, -0.07610437273979187, -1.506637692451477, -0.12836651504039764, 1.5962843894958496, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09517814964056015, -0.08068207651376724, 1.801899790763855, 0.16422522068023682, -1.8167773485183716, -0.00024713375023566186, 0.00024713375023566186, 0.8287556171417236, 0.1516365259885788, -0.07610437273979187, -1.506637692451477, -0.12836651504039764, 1.5962843894958496, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09517814964056015, -0.08068207651376724, 1.8022812604904175, 0.1646067053079605, -1.8167773485183716, -0.00024713375023566186, 0.00024713375023566186, 0.8287556171417236, 0.1516365259885788, -0.07610437273979187, -1.506637692451477, -0.12836651504039764, 1.596665859222412, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8516441583633423, 0.09517814964056015, -0.08068207651376724, 1.8022812604904175, 0.1646067053079605, -1.8167773485183716, -0.00024713375023566186, 0.00024713375023566186, 0.8287556171417236, 0.1516365259885788, -0.07610437273979187, -1.506637692451477, -0.12798504531383514, 1.5962843894958496, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000045/meta.json b/rc-table30-v2__rc-dos-w1/000045/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..54fb51cab168b6b3e865e4675dbf68ff23eb8771
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000045/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Sort and organize the cosmetics on the table.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 7501,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000045/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000045/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..38b5c1461cd82b7ada5eb6ac5f246a9fd3f8b01d
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000045/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000045/temporal.json b/rc-table30-v2__rc-dos-w1/000045/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..63057854f3d0fdfeb032ebda391d7ec8616b543b
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000045/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.84897381067276, 0.14248111844062805, -0.08335240930318832, 1.4780269861221313, 0.16956588625907898, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.8791103959083557, 0.12340734153985977, -0.08564125746488571, -1.6844053268432617, -0.12417028844356537, 1.7313268184661865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.14248111844062805, -0.08335240930318832, 1.4780269861221313, 0.16956588625907898, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.8791103959083557, 0.12340734153985977, -0.08564125746488571, -1.6844053268432617, -0.12417028844356537, 1.7313268184661865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.14248111844062805, -0.08335240930318832, 1.4784084558486938, 0.16994735598564148, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.8791103959083557, 0.12340734153985977, -0.08564125746488571, -1.6844053268432617, -0.12417028844356537, 1.7313268184661865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.14248111844062805, -0.08335240930318832, 1.4784084558486938, 0.16956588625907898, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.8791103959083557, 0.12340734153985977, -0.08525978773832321, -1.6847867965698242, -0.12417028844356537, 1.7313268184661865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.14248111844062805, -0.08335240930318832, 1.4787899255752563, 0.16994735598564148, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.8791103959083557, 0.12302586436271667, -0.059319447726011276, -1.6844053268432617, -0.10471503436565399, 1.7313268184661865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.14248111844062805, -0.08335240930318832, 1.4822232723236084, 0.16994735598564148, -1.5108338594436646, -0.00015826411254238337, 0.00015826411254238337, 0.8756771087646484, 0.1028076633810997, 0.03185320645570755, -1.6554131507873535, -0.05054550990462303, 1.7305638790130615, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.14095520973205566, -0.08297093212604523, 1.481841802597046, 0.16994735598564148, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.8382925391197205, 0.01430533267557621, 0.17071031033992767, -1.597428798675537, 0.09288929402828217, 1.730945348739624, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.13904783129692078, -0.08220797777175903, 1.481841802597046, 0.16994735598564148, -1.5108338594436646, -0.00015826411254238337, 0.00015826411254238337, 0.7669565677642822, -0.16002899408340454, 0.34580758213996887, -1.560807228088379, 0.2977416515350342, 1.7313268184661865, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.13828489184379578, -0.08220797777175903, 1.481841802597046, 0.16994735598564148, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.6857023239135742, -0.39806973934173584, 0.5365453362464905, -1.5379186868667603, 0.5270084738731384, 1.728274941444397, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.13790340721607208, -0.08182650804519653, 1.481841802597046, 0.16994735598564148, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.6166552305221558, -0.6746395230293274, 0.7410162687301636, -1.5283818244934082, 0.7612344622612, 1.7011902332305908, -0.0019903641659766436, 0.0019903641659766436], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.13752193748950958, -0.08182650804519653, 1.4814603328704834, 0.16994735598564148, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.5609598159790039, -0.9359502792358398, 0.9481574892997742, -1.5283818244934082, 0.959983229637146, 1.6737239360809326, -0.010481643490493298, 0.010481643490493298], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.13752193748950958, -0.08144503086805344, 1.4814603328704834, 0.16956588625907898, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.5113679766654968, -1.1705577373504639, 1.1495765447616577, -1.5291447639465332, 1.1362248659133911, 1.656557559967041, -0.016797209158539772, 0.016797209158539772], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.13752193748950958, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.4713130295276642, -1.3685435056686401, 1.334973692893982, -1.5348668098449707, 1.2773709297180176, 1.6432058811187744, -0.021057605743408203, 0.021057605743408203], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.13752193748950958, -0.08144503086805344, 1.481078863143921, 0.16994735598564148, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.4388876259326935, -1.5276188850402832, 1.5005340576171875, -1.5478370189666748, 1.3765544891357422, 1.6348134279251099, -0.02193424664437771, 0.02193424664437771], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.13752193748950958, -0.08144503086805344, 1.481078863143921, 0.16956588625907898, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.41142138838768005, -1.6599907875061035, 1.6481651067733765, -1.565384864807129, 1.4574273824691772, 1.6302357912063599, -0.02193424664437771, 0.02193424664437771], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.13752193748950958, -0.08144503086805344, 1.4806973934173584, 0.16956588625907898, -1.511215329170227, -0.00015826411254238337, 0.00015826411254238337, 0.3892957866191864, -1.7633707523345947, 1.7710002660751343, -1.5890363454818726, 1.5173189640045166, 1.6260395050048828, -0.02193424664437771, 0.02193424664437771], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1371404528617859, -0.08144503086805344, 1.4776455163955688, 0.16994735598564148, -1.5115967988967896, -0.00015826411254238337, 0.00015826411254238337, 0.368314653635025, -1.8434805870056152, 1.8671320676803589, -1.6031509637832642, 1.5543221235275269, 1.6195544004440308, -0.021924281492829323, 0.021924281492829323], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1371404528617859, -0.08144503086805344, 1.4776455163955688, 0.16994735598564148, -1.5115967988967896, -0.00015826411254238337, 0.00015826411254238337, 0.34847790002822876, -1.9079499244689941, 1.9411382675170898, -1.6142138242721558, 1.577592134475708, 1.6065843105316162, -0.02146591618657112, 0.02146591618657112], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1371404528617859, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.5115967988967896, -0.00015826411254238337, 0.00015826411254238337, 0.33283740282058716, -1.9567787647247314, 1.9918745756149292, -1.6191729307174683, 1.5924696922302246, 1.5844587087631226, -0.02132645808160305, 0.02132645808160305], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1371404528617859, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.5115967988967896, -0.00015826411254238337, 0.00015826411254238337, 0.32063019275665283, -1.9968338012695312, 2.029259204864502, -1.6229877471923828, 1.6023880243301392, 1.559281349182129, -0.021316496655344963, 0.021316496655344963], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1371404528617859, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.5115967988967896, -0.00015826411254238337, 0.00015826411254238337, 0.3130006790161133, -2.027733325958252, 2.0571069717407227, -1.6237506866455078, 1.6065843105316162, 1.5421148538589478, -0.021316496655344963, 0.021316496655344963], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1371404528617859, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.5115967988967896, -0.00015826411254238337, 0.00015826411254238337, 0.3061341345310211, -2.054436445236206, 2.0830471515655518, -1.6245136260986328, 1.6092545986175537, 1.5241855382919312, -0.021316496655344963, 0.021316496655344963], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1371404528617859, -0.08144503086805344, 1.4784084558486938, 0.16956588625907898, -1.5115967988967896, -0.00015826411254238337, 0.00015826411254238337, 0.30079346895217896, -2.0750362873077393, 2.10288405418396, -1.6264209747314453, 1.6050583124160767, 1.5070191621780396, -0.02132645808160305, 0.02132645808160305], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1371404528617859, -0.08144503086805344, 1.4787899255752563, 0.16994735598564148, -1.5115967988967896, -0.00015826411254238337, 0.00015826411254238337, 0.2943083941936493, -2.092202663421631, 2.1169984340667725, -1.6264209747314453, 1.597428798675537, 1.493667483329773, -0.02132645808160305, 0.02132645808160305], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1371404528617859, -0.08144503086805344, 1.4803158044815063, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.28782328963279724, -2.1032655239105225, 2.1231021881103516, -1.6264209747314453, 1.595902919769287, 1.4860379695892334, -0.02132645808160305, 0.02132645808160305], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1371404528617859, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.28629741072654724, -2.1108949184417725, 2.1261539459228516, -1.6264209747314453, 1.590562343597412, 1.4772640466690063, -0.021316496655344963, 0.021316496655344963], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1371404528617859, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.28400853276252747, -2.1162354946136475, 2.1269168853759766, -1.6237506866455078, 1.5890363454818726, 1.4684901237487793, -0.0211571604013443, 0.0211571604013443], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.28248265385627747, -2.1223392486572266, 2.1276798248291016, -1.6237506866455078, 1.5829328298568726, 1.4639123678207397, -0.02113724872469902, 0.02113724872469902], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1371404528617859, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.28248265385627747, -2.1276798248291016, 2.128824234008789, -1.6226062774658203, 1.579118013381958, 1.4578088521957397, -0.020351625978946686, 0.020351625978946686], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.28248265385627747, -2.134165048599243, 2.129587173461914, -1.6195544004440308, 1.571869969367981, 1.4539940357208252, -0.020024197176098824, 0.020024197176098824], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.28248265385627747, -2.141031503677368, 2.131875991821289, -1.6195544004440308, 1.5691996812820435, 1.4501793384552002, -0.018878456205129623, 0.018878456205129623], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.28248265385627747, -2.146372079849243, 2.133402109146118, -1.6195544004440308, 1.567292332649231, 1.4494163990020752, -0.018662307411432266, 0.018662307411432266], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.28248265385627747, -2.1501870155334473, 2.131875991821289, -1.6195544004440308, 1.5657663345336914, 1.4467459917068481, -0.018182480707764626, 0.018182480707764626], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.2817196846008301, -2.1513314247131348, 2.128061294555664, -1.6195544004440308, 1.563858985900879, 1.4440757036209106, -0.017821766436100006, 0.017821766436100006], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4806973934173584, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.2801937758922577, -2.1528573036193848, 2.121957778930664, -1.6195544004440308, 1.563858985900879, 1.4425498247146606, -0.01423549372702837, 0.01423549372702837], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.2798123061656952, -2.1528573036193848, 2.1169984340667725, -1.6195544004440308, 1.563858985900879, 1.4391164779663086, -0.011766643263399601, 0.011766643263399601], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.2798123061656952, -2.1528573036193848, 2.1147096157073975, -1.6195544004440308, 1.5634775161743164, 1.4391164779663086, -0.007995853200554848, 0.007995853200554848], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.2798123061656952, -2.1524758338928223, 2.1131837368011475, -1.6199358701705933, 1.5634775161743164, 1.4391164779663086, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.2798123061656952, -2.1532387733459473, 2.1208133697509766, -1.6218433380126953, 1.5756847858428955, 1.4391164779663086, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.2817196846008301, -2.145609140396118, 2.144083261489868, -1.6268024444580078, 1.586366057395935, 1.4391164779663086, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.28782328963279724, -2.1238651275634766, 2.1730754375457764, -1.6237506866455078, 1.5985733270645142, 1.4391164779663086, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.2958342730998993, -2.0853359699249268, 2.211604595184326, -1.5875104665756226, 1.6031509637832642, 1.4391164779663086, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4787899255752563, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.308804452419281, -2.030785083770752, 2.2371633052825928, -1.5569924116134644, 1.6062028408050537, 1.4391164779663086, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4795528650283813, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.3244449496269226, -1.9258793592453003, 2.1837568283081055, -1.5413519144058228, 1.560044288635254, 1.4295796155929565, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.33054855465888977, -1.7446783781051636, 1.9987411499023438, -1.5260928869247437, 1.403639316558838, 1.415464997291565, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.3233005404472351, -1.5062562227249146, 1.7153048515319824, -1.5257114171981812, 1.1324101686477661, 1.405928134918213, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.2969787120819092, -1.2636377811431885, 1.405165195465088, -1.5226596593856812, 0.8119707107543945, 1.4009689092636108, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.2470054179430008, -1.0759518146514893, 1.1461433172225952, -1.5215152502059937, 0.5457007884979248, 1.3975356817245483, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.18940261006355286, -0.9626535177230835, 0.967231273651123, -1.5211337804794312, 0.3770885765552521, 1.3944838047027588, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.14095520973205566, -0.9122987985610962, 0.8478294014930725, -1.5211337804794312, 0.2817196846008301, 1.3944838047027588, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.10471503436565399, -0.9069581031799316, 0.7703898549079895, -1.5203708410263062, 0.20733195543289185, 1.3941023349761963, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.08144503086805344, -0.9306095838546753, 0.726901650428772, -1.5203708410263062, 0.15316243469715118, 1.3937208652496338, -0.007750028744339943, 0.007750028744339943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.07038223743438721, -0.9676127433776855, 0.7055390477180481, -1.5211337804794312, 0.10929274559020996, 1.3933393955230713, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4806973934173584, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.06351567804813385, -1.0103379487991333, 0.699053943157196, -1.5215152502059937, 0.06656748056411743, 1.3918135166168213, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.06046387553215027, -1.053444743156433, 0.7017242908477783, -1.5238040685653687, 0.040627144277095795, 1.3910505771636963, -0.007750028744339943, 0.007750028744339943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.057793546468019485, -1.0885404348373413, 0.7032501697540283, -1.5257114171981812, 0.025749599561095238, 1.3910505771636963, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.057793546468019485, -1.114099383354187, 0.7021057605743408, -1.5291447639465332, 0.016975661739706993, 1.3914320468902588, -0.007757213432341814, 0.007757213432341814], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.05703059583902359, -1.1305028200149536, 0.698291003704071, -1.5329594612121582, 0.013923857361078262, 1.3914320468902588, -0.008230176754295826, 0.008230176754295826], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.05703059583902359, -1.1362248659133911, 0.6921873688697815, -1.5367742776870728, 0.010490577667951584, 1.3914320468902588, -0.01104174554347992, 0.01104174554347992], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.05703059583902359, -1.123636245727539, 0.6795986890792847, -1.5379186868667603, 0.010490577667951584, 1.3914320468902588, -0.01478751003742218, 0.01478751003742218], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.05741206929087639, -1.0759518146514893, 0.6609063744544983, -1.5405889749526978, 0.011635004542768002, 1.3914320468902588, -0.01478751003742218, 0.01478751003742218], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4787899255752563, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.06389715522527695, -0.9969863295555115, 0.656710147857666, -1.5402075052261353, 0.0398641936480999, 1.3914320468902588, -0.01478751003742218, 0.01478751003742218], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.0871671661734581, -0.9119172692298889, 0.6830319762229919, -1.5405889749526978, 0.10013733059167862, 1.3937208652496338, -0.014575103297829628, 0.014575103297829628], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.14362554252147675, -0.8562218546867371, 0.7658121585845947, -1.5405889749526978, 0.20122835040092468, 1.406691074371338, -0.009226772002875805, 0.009226772002875805], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.21839475631713867, -0.8875028491020203, 0.9081025123596191, -1.5402075052261353, 0.34733349084854126, 1.421950101852417, -0.009049679152667522, 0.009049679152667522], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.2920195460319519, -1.033989429473877, 1.1301213502883911, -1.517700433731079, 0.5884260535240173, 1.4337759017944336, -0.009080374613404274, 0.009080374613404274], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.3381780683994293, -1.2415121793746948, 1.3632028102874756, -1.4749752283096313, 0.8440146446228027, 1.436446189880371, -0.01102510467171669, 0.01102510467171669], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.3740367889404297, -1.4738308191299438, 1.592088222503662, -1.4398794174194336, 1.0694667100906372, 1.436446189880371, -0.013411762192845345, 0.013411762192845345], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.39883267879486084, -1.6748683452606201, 1.7751964330673218, -1.431486964225769, 1.2216753959655762, 1.4448386430740356, -0.015750233083963394, 0.015750233083963394], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.41523614525794983, -1.8404288291931152, 1.9205386638641357, -1.440260887145996, 1.3353551626205444, 1.4608606100082397, -0.016071897000074387, 0.016071897000074387], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.42782482504844666, -1.957541823387146, 2.0159075260162354, -1.4513237476348877, 1.4093613624572754, 1.4715418815612793, -0.016071897000074387, 0.016071897000074387], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.4362172782421112, -2.0357441902160645, 2.0784695148468018, -1.4585717916488647, 1.4494163990020752, 1.485656499862671, -0.01605292595922947, 0.01605292595922947], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4806973934173584, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.440032035112381, -2.0887694358825684, 2.124246597290039, -1.4593347311019897, 1.4723048210144043, 1.4932860136032104, -0.016024479642510414, 0.016024479642510414], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4396505653858185, -2.128824234008789, 2.1669719219207764, -1.4662013053894043, 1.483367681503296, 1.5012969970703125, -0.015769105404615402, 0.015769105404615402], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.439269095659256, -2.1620125770568848, 2.2096970081329346, -1.4688715934753418, 1.4902342557907104, 1.509689450263977, -0.015318025834858418, 0.015318025834858418], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.439269095659256, -2.190241813659668, 2.2459373474121094, -1.4692530632019043, 1.491378664970398, 1.5165560245513916, -0.015131227672100067, 0.015131227672100067], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4404135048389435, -2.2081711292266846, 2.268444299697876, -1.4696345329284668, 1.4803158044815063, 1.5199893712997437, -0.015066011808812618, 0.015066011808812618], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.440032035112381, -2.2234301567077637, 2.285229206085205, -1.4814603328704834, 1.4604791402816772, 1.5283818244934082, -0.014290387742221355, 0.014290387742221355], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.440032035112381, -2.2375447750091553, 2.3016326427459717, -1.489089846611023, 1.4456015825271606, 1.5356298685073853, -0.01323301624506712, 0.01323301624506712], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.440032035112381, -2.249370574951172, 2.312314033508301, -1.5039674043655396, 1.436446189880371, 1.5394445657730103, -0.012710762210190296, 0.012710762210190296], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4787899255752563, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4404135048389435, -2.258526086807251, 2.317654609680176, -1.5115967988967896, 1.431486964225769, 1.5421148538589478, -0.012248252518475056, 0.012248252518475056], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4791713953018188, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.440032035112381, -2.264629602432251, 2.320706605911255, -1.519226312637329, 1.422713041305542, 1.5432593822479248, -0.01127576269209385, 0.01127576269209385], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.440032035112381, -2.2680628299713135, 2.32146954536438, -1.5222781896591187, 1.409742832183838, 1.5455482006072998, -0.010109493508934975, 0.010109493508934975], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.4404135048389435, -2.2703516483306885, 2.322232484817505, -1.5226596593856812, 1.3971542119979858, 1.5455482006072998, -0.007359265349805355, 0.007359265349805355], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.440032035112381, -2.273021936416626, 2.319943428039551, -1.5260928869247437, 1.3876173496246338, 1.5455482006072998, -0.00661014998331666, 0.00661014998331666], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.440032035112381, -2.273021936416626, 2.3134584426879883, -1.5268558263778687, 1.3822766542434692, 1.5455482006072998, -0.004959389567375183, 0.004959389567375183], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.440032035112381, -2.2718775272369385, 2.306973457336426, -1.5299077033996582, 1.3784618377685547, 1.5455482006072998, -0.002318444661796093, 0.002318444661796093], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.439269095659256, -2.2695887088775635, 2.303539991378784, -1.5257114171981812, 1.3765544891357422, 1.5455482006072998, -0.0016025342047214508, 0.0016025342047214508], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.4362172782421112, -2.2589075565338135, 2.2993438243865967, -1.5127413272857666, 1.3876173496246338, 1.5459296703338623, -0.0015982858603820205, 0.0015982858603820205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4358358085155487, -2.2158007621765137, 2.2985808849334717, -1.506637692451477, 1.3876173496246338, 1.5459296703338623, -0.0015982858603820205, 0.0015982858603820205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.4327840209007263, -2.1406500339508057, 2.2711145877838135, -1.514648675918579, 1.3780803680419922, 1.5459296703338623, -0.0015982858603820205, 0.0015982858603820205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4806973934173584, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.42553597688674927, -1.9697489738464355, 2.132638931274414, -1.5302891731262207, 1.259060025215149, 1.5455482006072998, -0.0016025342047214508, 0.0016025342047214508], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.404936283826828, -1.725223183631897, 1.8682764768600464, -1.5383001565933228, 1.027885913848877, 1.5455482006072998, -0.0015982858603820205, 0.0015982858603820205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.3583962619304657, -1.4471274614334106, 1.5459296703338623, -1.5485999584197998, 0.7173647880554199, 1.5455482006072998, -0.0016025342047214508, 0.0016025342047214508], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.28477150201797485, -1.200312852859497, 1.2399863004684448, -1.5524147748947144, 0.44346532225608826, 1.5455482006072998, -0.0016025342047214508, 0.0016025342047214508], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.1993209719657898, -1.0156786441802979, 1.0004196166992188, -1.5527962446212769, 0.23212787508964539, 1.5459296703338623, -0.0016025342047214508, 0.0016025342047214508], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.12493324279785156, -0.9107728600502014, 0.8344777822494507, -1.5527962446212769, 0.10738536715507507, 1.5459296703338623, -0.0016025342047214508, 0.0016025342047214508], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.07610437273979187, -0.8726252913475037, 0.7288090586662292, -1.5524147748947144, 0.02841992862522602, 1.5463111400604248, -0.0015982858603820205, 0.0015982858603820205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.05092698708176613, -0.8779659867286682, 0.6647211313247681, -1.5516518354415894, -0.04596780240535736, 1.5470740795135498, -0.0015982858603820205, 0.0015982858603820205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4787899255752563, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.03643091395497322, -0.9088655114173889, 0.6296253800392151, -1.5489814281463623, -0.10738536715507507, 1.5604257583618164, -0.0016025342047214508, 0.0016025342047214508], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4822232723236084, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.02994582988321781, -0.9439612627029419, 0.614366352558136, -1.5485999584197998, -0.17452506721019745, 1.574540376663208, -0.0015982858603820205, 0.0015982858603820205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.028038453310728073, -0.9798199534416199, 0.6082627773284912, -1.5485999584197998, -0.22106507420539856, 1.58407723903656, -0.0015982858603820205, 0.0015982858603820205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.02689402550458908, -1.0122454166412354, 0.6052109599113464, -1.5485999584197998, -0.25387197732925415, 1.5909438133239746, -0.0015982858603820205, 0.0015982858603820205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.02689402550458908, -1.044670820236206, 0.6044480204582214, -1.5505073070526123, -0.2904936373233795, 1.592088222503662, -0.0015982858603820205, 0.0015982858603820205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.02689402550458908, -1.0786221027374268, 0.6086442470550537, -1.5627145767211914, -0.3213931620121002, 1.5947585105895996, -0.0016025342047214508, 0.0016025342047214508], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.029564354568719864, -1.1118104457855225, 0.612840473651886, -1.576066255569458, -0.34885939955711365, 1.5947585105895996, -0.0016025342047214508, 0.0016025342047214508], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.03528648987412453, -1.1434729099273682, 0.6185625791549683, -1.594377040863037, -0.3728923499584198, 1.595139980316162, -0.0015982858603820205, 0.0015982858603820205], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.03795681521296501, -1.1652170419692993, 0.619325578212738, -1.6096360683441162, -0.37823301553726196, 1.5955214500427246, -0.0020216931588947773, 0.0020216931588947773], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.04139009863138199, -1.1705577373504639, 0.614366352558136, -1.6184099912643433, -0.3767071068286896, 1.5962843894958496, -0.007699822075664997, 0.007699822075664997], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4806973934173584, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.04139009863138199, -1.1587319374084473, 0.5998703241348267, -1.6241321563720703, -0.3580147922039032, 1.5962843894958496, -0.013826054520905018, 0.013826054520905018], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.04177157208323479, -1.117914080619812, 0.5750743746757507, -1.6275653839111328, -0.34695202112197876, 1.5962843894958496, -0.016071897000074387, 0.016071897000074387], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.04787518084049225, -1.035896897315979, 0.5449378490447998, -1.6279468536376953, -0.3290226459503174, 1.596665859222412, -0.016062410548329353, 0.016062410548329353], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.07572289556264877, -0.9218356609344482, 0.5373083353042603, -1.6290913820266724, -0.27103838324546814, 1.5962843894958496, -0.01608138531446457, 0.01608138531446457], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.14248111844062805, -0.8310444951057434, 0.5891889929771423, -1.6317616701126099, -0.14820325374603271, 1.595902919769287, -0.018534783273935318, 0.018534783273935318], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.23327229917049408, -0.8268482685089111, 0.7211795449256897, -1.6317616701126099, 0.0551232174038887, 1.596665859222412, -0.018574003130197525, 0.018574003130197525], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.31681543588638306, -0.9309910535812378, 0.9355688095092773, -1.6260395050048828, 0.33627068996429443, 1.6237506866455078, -0.02227306365966797, 0.02227306365966797], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.3725108802318573, -1.1144808530807495, 1.180094599723816, -1.58407723903656, 0.6445029377937317, 1.6439688205718994, -0.02452712133526802, 0.02452712133526802], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4787899255752563, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.40951400995254517, -1.3193331956863403, 1.404402256011963, -1.5241855382919312, 0.8901731967926025, 1.655031681060791, -0.024655381217598915, 0.024655381217598915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4791713953018188, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4346913993358612, -1.496337890625, 1.5749218463897705, -1.4776455163955688, 1.042000412940979, 1.6756312847137451, -0.024655381217598915, 0.024655381217598915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4530022144317627, -1.657320499420166, 1.7191195487976074, -1.4486533403396606, 1.1552987098693848, 1.7027161121368408, -0.024655381217598915, 0.024655381217598915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.46215763688087463, -1.7786297798156738, 1.8198291063308716, -1.438735008239746, 1.2327382564544678, 1.7278934717178345, -0.024655381217598915, 0.024655381217598915], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4694056510925293, -1.8663691282272339, 1.8835355043411255, -1.4326313734054565, 1.2788968086242676, 1.7500190734863281, -0.024645518511533737, 0.024645518511533737], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4728389382362366, -1.9304569959640503, 1.9258793592453003, -1.427672266960144, 1.3044556379318237, 1.7641336917877197, -0.02463565766811371, 0.02463565766811371], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.47512778639793396, -1.97966730594635, 1.9602121114730835, -1.4246203899383545, 1.3216220140457153, 1.7740520238876343, -0.02462579309940338, 0.02462579309940338], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.47665369510650635, -2.0166704654693604, 1.9895857572555542, -1.423475980758667, 1.3296329975128174, 1.7782483100891113, -0.024576466530561447, 0.024576466530561447], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.47741663455963135, -2.0456626415252686, 2.017814874649048, -1.423475980758667, 1.334210753440857, 1.7813000679016113, -0.02452712133526802, 0.02452712133526802], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.47779813408851624, -2.0670251846313477, 2.039177656173706, -1.423475980758667, 1.336499571800232, 1.7816815376281738, -0.023655951023101807, 0.023655951023101807], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4806973934173584, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4800869822502136, -2.0845730304718018, 2.055962562561035, -1.424238920211792, 1.338788390159607, 1.7839703559875488, -0.023179074749350548, 0.023179074749350548], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4842832088470459, -2.0994505882263184, 2.0700769424438477, -1.4337759017944336, 1.340695858001709, 1.7858778238296509, -0.021804694086313248, 0.021804694086313248], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.49153125286102295, -2.111276388168335, 2.0811398029327393, -1.4536125659942627, 1.341458797454834, 1.7896925210952759, -0.02155558206140995, 0.02155558206140995], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4968718886375427, -2.1223392486572266, 2.093728542327881, -1.4677271842956543, 1.3410773277282715, 1.793125867843628, -0.020222578197717667, 0.020222578197717667], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5014495849609375, -2.1345465183258057, 2.10593581199646, -1.4776455163955688, 1.342221736907959, 1.796940565109253, -0.019756723195314407, 0.019756723195314407], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5025940537452698, -2.144846200942993, 2.117380142211914, -1.4875638484954834, 1.3418402671813965, 1.799992322921753, -0.01917385123670101, 0.01917385123670101], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5048828721046448, -2.1540017127990723, 2.1253910064697266, -1.489089846611023, 1.3410773277282715, 1.800755262374878, -0.017162885516881943, 0.017162885516881943], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.509079098701477, -2.1604866981506348, 2.1292057037353516, -1.492141604423523, 1.340695858001709, 1.8015183210372925, -0.015769105404615402, 0.015769105404615402], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4787899255752563, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5117494463920593, -2.165064573287964, 2.1314945220947266, -1.4917601346969604, 1.340695858001709, 1.803425669670105, -0.01386228483170271, 0.01386228483170271], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4787899255752563, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5117494463920593, -2.1669719219207764, 2.1330206394195557, -1.4909971952438354, 1.3410773277282715, 1.803425669670105, -0.012710762210190296, 0.012710762210190296], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5113679766654968, -2.168116331100464, 2.133402109146118, -1.4917601346969604, 1.3410773277282715, 1.803425669670105, -0.012710762210190296, 0.012710762210190296], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5113679766654968, -2.168879270553589, 2.1314945220947266, -1.492141604423523, 1.340695858001709, 1.803425669670105, -0.01232633925974369, 0.01232633925974369], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5109865069389343, -2.168879270553589, 2.128824234008789, -1.4925230741500854, 1.339932918548584, 1.803425669670105, -0.010817945003509521, 0.010817945003509521], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5109865069389343, -2.168879270553589, 2.125772476196289, -1.495956301689148, 1.3403143882751465, 1.803425669670105, -0.008445000275969505, 0.008445000275969505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.5109865069389343, -2.168879270553589, 2.1238651275634766, -1.495193362236023, 1.3403143882751465, 1.803425669670105, -0.007359265349805355, 0.007359265349805355], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.5117494463920593, -2.168879270553589, 2.1215763092041016, -1.4955748319625854, 1.3403143882751465, 1.803425669670105, -0.007205353584140539, 0.007205353584140539], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5117494463920593, -2.1684978008270264, 2.1200504302978516, -1.495193362236023, 1.3403143882751465, 1.803425669670105, -0.007198390085250139, 0.007198390085250139], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5117494463920593, -2.1669719219207764, 2.1169984340667725, -1.4955748319625854, 1.339551329612732, 1.803425669670105, -0.0066572451032698154, 0.0066572451032698154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5128938555717468, -2.1639199256896973, 2.1139466762542725, -1.500152587890625, 1.3391698598861694, 1.8030441999435425, -0.00547801936045289, 0.00547801936045289], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4806973934173584, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5140383243560791, -2.1581978797912598, 2.111276388168335, -1.507400631904602, 1.3391698598861694, 1.803425669670105, -0.004227766767144203, 0.004227766767144203], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5151827335357666, -2.1494240760803223, 2.1063172817230225, -1.5157930850982666, 1.354047417640686, 1.8030441999435425, -0.00417158380150795, 0.00417158380150795], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5163271427154541, -2.1353094577789307, 2.1025025844573975, -1.5302891731262207, 1.3498512506484985, 1.80266273021698, -0.0038076452910900116, 0.0038076452910900116], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5148012638092041, -2.118906021118164, 2.0979247093200684, -1.5505073070526123, 1.347943902015686, 1.80113685131073, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5140383243560791, -2.086099147796631, 2.098306179046631, -1.5779736042022705, 1.346036434173584, 1.7988479137420654, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5151827335357666, -2.033836841583252, 2.090676784515381, -1.6275653839111328, 1.342984676361084, 1.7881666421890259, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5170900821685791, -1.9277867078781128, 2.010948419570923, -1.7122529745101929, 1.2945373058319092, 1.7847332954406738, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.5071717500686646, -1.7313268184661865, 1.803425669670105, -1.821736454963684, 1.115625262260437, 1.804951548576355, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.4787899255752563, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4701686203479767, -1.497100830078125, 1.5230411291122437, -1.9182498455047607, 0.8257037997245789, 1.8442435264587402, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4791713953018188, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.38166627287864685, -1.270504355430603, 1.2415121793746948, -1.9861524105072021, 0.49038681387901306, 1.9068055152893066, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.2763790488243103, -1.113336443901062, 1.030937671661377, -2.020866632461548, 0.26760509610176086, 1.9651713371276855, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.18711376190185547, -1.0236896276474, 0.88979172706604, -2.041466474533081, 0.12569619715213776, 1.9975967407226562, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.11768520623445511, -0.9885938763618469, 0.7986190319061279, -2.052147626876831, 0.046730753034353256, 2.017814874649048, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.08220797777175903, -0.9878309369087219, 0.7467383742332458, -2.06130313873291, -0.013160906732082367, 2.0281147956848145, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.061226826161146164, -1.0038528442382812, 0.7166017889976501, -2.0662622451782227, -0.045204851776361465, 2.034599781036377, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.049782559275627136, -1.019874930381775, 0.6937133073806763, -2.069695472717285, -0.0715266615152359, 2.036125659942627, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.046730753034353256, -1.033226490020752, 0.6754024624824524, -2.0727474689483643, -0.09441519528627396, 2.039177656173706, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.04329747334122658, -1.042000412940979, 0.6578545570373535, -2.087625026702881, -0.10128175467252731, 2.039940595626831, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16956588625907898, -1.5119783878326416, -0.00015826411254238337, 0.00015826411254238337, 0.04558632895350456, -1.0465781688690186, 0.6403067111968994, -2.1185245513916016, -0.10776684433221817, 2.0403220653533936, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.4806973934173584, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.05130846053361893, -1.0515373945236206, 0.6239032745361328, -2.1524758338928223, -0.11577782779932022, 2.0403220653533936, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.05092698708176613, -1.0561150312423706, 0.612077534198761, -2.1707866191864014, -0.11501488089561462, 2.040703535079956, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4776455163955688, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.05283436179161072, -1.0641260147094727, 0.6071183085441589, -2.182612419128418, -0.11539635062217712, 2.0418479442596436, -0.003492318093776703, 0.003492318093776703], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.05436026677489281, -1.0732814073562622, 0.6025406122207642, -2.189478874206543, -0.11577782779932022, 2.0418479442596436, -0.00351340021006763, 0.00351340021006763], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.053215838968753815, -1.0767147541046143, 0.5979629158973694, -2.194056510925293, -0.11539635062217712, 2.0418479442596436, -0.012032334692776203, 0.012032334692776203], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4780269861221313, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.053215838968753815, -1.0664149522781372, 0.5949110984802246, -2.196345567703247, -0.11539635062217712, 2.0418479442596436, -0.016300030052661896, 0.016300030052661896], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.053215838968753815, -1.0378042459487915, 0.5945296287536621, -2.1974899768829346, -0.11272602528333664, 2.0418479442596436, -0.017153238877654076, 0.017153238877654076], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4784084558486938, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.054741740226745605, -0.9843976497650146, 0.6048294901847839, -2.199397325515747, -0.08869306743144989, 2.041466474533081, -0.01739479787647724, 0.01739479787647724], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.4787899255752563, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.07534141838550568, -0.9042877554893494, 0.6227588057518005, -2.1990158557891846, -0.040245670825242996, 2.041466474533081, -0.01739479787647724, 0.01739479787647724], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4795528650283813, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.12722209095954895, -0.811589241027832, 0.6425955891609192, -2.1982529163360596, 0.018501564860343933, 2.041466474533081, -0.01739479787647724, 0.01739479787647724], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.22373540699481964, -0.7120240926742554, 0.6548027992248535, -2.1791789531707764, 0.11615930497646332, 2.040703535079956, -0.017365766689181328, 0.017365766689181328], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16956588625907898, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.3427557647228241, -0.6261920928955078, 0.6364919543266296, -2.1307315826416016, 0.20809490978717804, 2.039940595626831, -0.013573353178799152, 0.013573353178799152], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.4877164959907532, -0.5392156839370728, 0.578507661819458, -2.0654993057250977, 0.2759975492954254, 2.0403220653533936, -0.00014471952454186976, 0.00014471952454186976], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481841802597046, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.6330586671829224, -0.47398337721824646, 0.5132753252983093, -2.018577814102173, 0.3118562698364258, 2.039940595626831, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.7501716613769531, -0.4335469603538513, 0.46101319789886475, -1.9808118343353271, 0.33207446336746216, 2.0403220653533936, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.8241779208183289, -0.4171435236930847, 0.42515450716018677, -1.961356520652771, 0.3370336592197418, 2.0403220653533936, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.1367589831352234, -0.08144503086805344, 1.4814603328704834, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.8627069592475891, -0.41027694940567017, 0.4026474356651306, -1.9506752490997314, 0.3217746317386627, 2.0403220653533936, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16994735598564148, -1.512359857559204, -0.00015826411254238337, 0.00015826411254238337, 0.8844510316848755, -0.4076066315174103, 0.3877699077129364, -1.943045735359192, 0.30346378684043884, 2.040703535079956, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.481078863143921, 0.16956588625907898, -1.5119783878326416, -0.00017184266471304, 0.00017184266471304, 0.8958953022956848, -0.4060807228088379, 0.3755626678466797, -1.9399938583374023, 0.291638046503067, 2.039940595626831, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8493552803993225, 0.1367589831352234, -0.08144503086805344, 1.4799343347549438, 0.16994735598564148, -1.512359857559204, -0.011766643263399601, 0.011766643263399601, 0.9012359976768494, -0.404936283826828, 0.36488136649131775, -1.9403753280639648, 0.28553444147109985, 2.034599781036377, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.84897381067276, 0.134470134973526, -0.07763027399778366, 1.4776455163955688, 0.16880293190479279, -1.515411615371704, -0.02593960054218769, 0.02593960054218769, 0.9046692848205566, -0.404936283826828, 0.3553444743156433, -1.9403753280639648, 0.2809567451477051, 2.0273518562316895, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8260852694511414, 0.11730372905731201, -0.03757534176111221, 1.4574273824691772, 0.1668955534696579, -1.5356298685073853, -0.034, 0.034, 0.9054322242736816, -0.404936283826828, 0.3442816734313965, -1.9403753280639648, 0.2805752754211426, 2.0243000984191895, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7562752962112427, 0.03185320645570755, 0.07305257022380829, 1.436446189880371, 0.09441519528627396, -1.569581151008606, -0.034, 0.034, 0.9081025123596191, -0.404936283826828, 0.33627068996429443, -1.9396123886108398, 0.28515297174453735, 2.0235371589660645, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.654421329498291, -0.15774014592170715, 0.25310903787612915, 1.424238920211792, -0.09060044586658478, -1.6309987306594849, -0.034, 0.034, 0.9111543297767639, -0.404936283826828, 0.3397039771080017, -1.9357976913452148, 0.3286411762237549, 2.023155450820923, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5746929049491882, -0.4388876259326935, 0.47856107354164124, 1.418135404586792, -0.3572518527507782, -1.6939421892166138, -0.034, 0.034, 0.9122987985610962, -0.404173344373703, 0.35000380873680115, -1.9323643445968628, 0.3877699077129364, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5300602912902832, -0.7364385724067688, 0.6956206560134888, 1.4150835275650024, -0.6116960644721985, -1.730945348739624, -0.034, 0.034, 0.9138246774673462, -0.4011215269565582, 0.3583962619304657, -1.9251163005828857, 0.44499123096466064, 2.020103693008423, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5071717500686646, -1.0118639469146729, 0.8924620151519775, 1.412413239479065, -0.810826301574707, -1.7530708312988281, -0.034, 0.034, 0.9153505563735962, -0.39883267879486084, 0.361829549074173, -1.8987945318222046, 0.4854276478290558, 2.020103693008423, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4983977973461151, -1.2060348987579346, 1.0275044441223145, 1.409742832183838, -0.9367132186889648, -1.7725261449813843, -0.034, 0.034, 0.9153505563735962, -0.39768826961517334, 0.36335545778274536, -1.8629357814788818, 0.5045014023780823, 2.020103693008423, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.499542236328125, -1.347943902015686, 1.120965838432312, 1.4093613624572754, -1.021400809288025, -1.7885481119155884, -0.034, 0.034, 0.917639434337616, -0.39730677008628845, 0.36335545778274536, -1.8392843008041382, 0.5132753252983093, 2.020103693008423, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506027340888977, -1.4295796155929565, 1.1682689189910889, 1.408979892730713, -1.0591669082641602, -1.798466444015503, -0.034, 0.034, 0.9195467829704285, -0.39730677008628845, 0.36335545778274536, -1.8251698017120361, 0.5163271427154541, 2.020103693008423, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506027340888977, -1.4799343347549438, 1.1926833391189575, 1.4101243019104004, -1.0854886770248413, -1.8110551834106445, -0.034, 0.034, 0.9199283123016357, -0.39730677008628845, 0.3622110188007355, -1.8167773485183716, 0.5193789601325989, 2.0204851627349854, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5041199326515198, -1.508163571357727, 1.203364610671997, 1.4295796155929565, -1.1045624017715454, -1.8308918476104736, -0.034, 0.034, 0.9214541912078857, -0.39806973934173584, 0.3599221706390381, -1.8133440017700195, 0.5197604298591614, 2.0204851627349854, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5022125840187073, -1.5230411291122437, 1.2083238363265991, 1.4417868852615356, -1.1102845668792725, -1.8430991172790527, -0.034, 0.034, 0.9214541912078857, -0.4045548141002655, 0.3568703830242157, -1.809147834777832, 0.5132753252983093, 2.0204851627349854, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5022125840187073, -1.5352483987808228, 1.2109941244125366, 1.4509422779083252, -1.114862322807312, -1.8511101007461548, -0.034, 0.034, 0.9214541912078857, -0.41065841913223267, 0.3549630045890808, -1.8087663650512695, 0.5056458115577698, 2.0204851627349854, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5041199326515198, -1.5451667308807373, 1.2121385335922241, 1.4593347311019897, -1.1160067319869995, -1.8545433282852173, -0.03231526538729668, 0.03231526538729668, 0.9214541912078857, -0.41485464572906494, 0.3549630045890808, -1.8083847761154175, 0.4968718886375427, 2.0204851627349854, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5045014023780823, -1.5558480024337769, 1.2121385335922241, 1.4642938375473022, -1.1182955503463745, -1.8579766750335693, -0.03041464276611805, 0.03041464276611805, 0.9214541912078857, -0.4179064631462097, 0.3538185656070709, -1.806477427482605, 0.4968718886375427, 2.0204851627349854, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5045014023780823, -1.565384864807129, 1.2102311849594116, 1.4665827751159668, -1.1182955503463745, -1.8606469631195068, -0.026955194771289825, 0.026955194771289825, 0.9214541912078857, -0.4186694025993347, 0.35229265689849854, -1.806477427482605, 0.49229419231414795, 2.0204851627349854, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5045014023780823, -1.5714884996414185, 1.2071794271469116, 1.4673457145690918, -1.118677020072937, -1.8606469631195068, -0.022591853514313698, 0.022591853514313698, 0.9218356609344482, -0.4190509021282196, 0.35076677799224854, -1.806477427482605, 0.49191272258758545, 2.0204851627349854, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5045014023780823, -1.574540376663208, 1.203364610671997, 1.4677271842956543, -1.118677020072937, -1.8610284328460693, -0.01981612853705883, 0.01981612853705883, 0.9214541912078857, -0.4190509021282196, 0.35000380873680115, -1.806477427482605, 0.49153125286102295, 2.0204851627349854, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5033569931983948, -1.576829195022583, 1.1972609758377075, 1.4707789421081543, -1.118677020072937, -1.8610284328460693, -0.017977571114897728, 0.017977571114897728, 0.9214541912078857, -0.4190509021282196, 0.34885939955711365, -1.806477427482605, 0.49153125286102295, 2.0204851627349854, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4999237060546875, -1.5772106647491455, 1.191157341003418, 1.4707789421081543, -1.116388201713562, -1.8610284328460693, -0.015364833176136017, 0.015364833176136017, 0.9214541912078857, -0.4194323718547821, 0.34847790002822876, -1.8068588972091675, 0.49153125286102295, 2.0204851627349854, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4980163276195526, -1.5764477252960205, 1.1877241134643555, 1.4742122888565063, -1.1160067319869995, -1.8610284328460693, -0.012500531040132046, 0.012500531040132046, 0.9214541912078857, -0.4194323718547821, 0.34809643030166626, -1.8068588972091675, 0.49153125286102295, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49000534415245056, -1.5730143785476685, 1.187342643737793, 1.4703974723815918, -1.1160067319869995, -1.8610284328460693, -0.011418790556490421, 0.011418790556490421, 0.9214541912078857, -0.4194323718547821, 0.34809643030166626, -1.8068588972091675, 0.49153125286102295, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4835202693939209, -1.5459296703338623, 1.204127550125122, 1.4707789421081543, -1.121347427368164, -1.8610284328460693, -0.011427225545048714, 0.011427225545048714, 0.9218356609344482, -0.4194323718547821, 0.34809643030166626, -1.8068588972091675, 0.49153125286102295, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47894254326820374, -1.497100830078125, 1.2472343444824219, 1.4711604118347168, -1.122110366821289, -1.8572137355804443, -0.011418790556490421, 0.011418790556490421, 0.9214541912078857, -0.4194323718547821, 0.34695202112197876, -1.806477427482605, 0.49153125286102295, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4678797721862793, -1.431486964225769, 1.3162813186645508, 1.4711604118347168, -1.1205843687057495, -1.8430991172790527, -0.011418790556490421, 0.011418790556490421, 0.9214541912078857, -0.4194323718547821, 0.34618905186653137, -1.806477427482605, 0.49153125286102295, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4358358085155487, -1.361295461654663, 1.402876377105713, 1.4799343347549438, -1.1312657594680786, -1.8293659687042236, -0.011418790556490421, 0.011418790556490421, 0.9214541912078857, -0.4194323718547821, 0.34504464268684387, -1.806477427482605, 0.49153125286102295, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39425498247146606, -1.3105592727661133, 1.4974822998046875, 1.5482184886932373, -1.205653429031372, -1.817921757698059, -0.011418790556490421, 0.011418790556490421, 0.9214541912078857, -0.4190509021282196, 0.3442816734313965, -1.806477427482605, 0.49191272258758545, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3278782367706299, -1.266308069229126, 1.5493628978729248, 1.6458762884140015, -1.2933928966522217, -1.8118181228637695, -0.011418790556490421, 0.011418790556490421, 0.9218356609344482, -0.4190509021282196, 0.3427557647228241, -1.806477427482605, 0.49229419231414795, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2481498420238495, -1.2216753959655762, 1.5394445657730103, 1.7095826864242554, -1.341458797454834, -1.8068588972091675, -0.011418790556490421, 0.011418790556490421, 0.9218356609344482, -0.4194323718547821, 0.3408484160900116, -1.8060959577560425, 0.49267566204071045, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17109178006649017, -1.183146357536316, 1.485656499862671, 1.7374303340911865, -1.3670176267623901, -1.796177625656128, -0.011418790556490421, 0.011418790556490421, 0.9214541912078857, -0.4194323718547821, 0.3393225073814392, -1.8060959577560425, 0.49305713176727295, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11692225188016891, -1.1594948768615723, 1.426909327507019, 1.7595559358596802, -1.3662546873092651, -1.7809185981750488, -0.011418790556490421, 0.011418790556490421, 0.9218356609344482, -0.4228656589984894, 0.3370336592197418, -1.8060959577560425, 0.49305713176727295, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.08487831056118011, -1.1461433172225952, 1.3689249753952026, 1.7664225101470947, -1.353284478187561, -1.7679483890533447, -0.011418790556490421, 0.011418790556490421, 0.9218356609344482, -0.42629891633987427, 0.33588922023773193, -1.8060959577560425, 0.49382010102272034, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.06656748056411743, -1.1415655612945557, 1.3273441791534424, 1.7736705541610718, -1.3376439809799194, -1.7607003450393677, -0.011418790556490421, 0.011418790556490421, 0.9214541912078857, -0.42706188559532166, 0.33588922023773193, -1.8060959577560425, 0.49305713176727295, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05741206929087639, -1.1377508640289307, 1.2987334728240967, 1.7797741889953613, -1.3139925003051758, -1.7553597688674927, -0.011418790556490421, 0.011418790556490421, 0.9214541912078857, -0.42820629477500916, 0.33588922023773193, -1.8060959577560425, 0.49305713176727295, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.053215838968753815, -1.1419470310211182, 1.2804226875305176, 1.7755779027938843, -1.2933928966522217, -1.7519264221191406, -0.011418790556490421, 0.011418790556490421, 0.9214541912078857, -0.42858776450157166, 0.33588922023773193, -1.8060959577560425, 0.49267566204071045, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05054550990462303, -1.1507209539413452, 1.267071008682251, 1.7732890844345093, -1.2842373847961426, -1.7511634826660156, -0.011418790556490421, 0.011418790556490421, 0.9214541912078857, -0.42858776450157166, 0.33398184180259705, -1.8060959577560425, 0.49305713176727295, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05130846053361893, -1.1587319374084473, 1.256008267402649, 1.7607003450393677, -1.271267294883728, -1.7496376037597656, -0.011418790556490421, 0.011418790556490421, 0.9218356609344482, -0.42858776450157166, 0.33207446336746216, -1.80571448802948, 0.49267566204071045, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.051689937710762024, -1.1655985116958618, 1.2476158142089844, 1.7534523010253906, -1.264019250869751, -1.7477302551269531, -0.011460993438959122, 0.011460993438959122, 0.9214541912078857, -0.42858776450157166, 0.32978561520576477, -1.804951548576355, 0.49267566204071045, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05130846053361893, -1.1709392070770264, 1.2418936491012573, 1.7462043762207031, -1.2594414949417114, -1.7477302551269531, -0.01444629579782486, 0.01444629579782486, 0.9214541912078857, -0.42858776450157166, 0.3282597064971924, -1.80113685131073, 0.49229419231414795, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.04444190114736557, -1.1743724346160889, 1.2445639371871948, 1.737811803817749, -1.256008267402649, -1.7477302551269531, -0.01670129969716072, 0.01670129969716072, 0.9214541912078857, -0.42858776450157166, 0.32673379778862, -1.793888807296753, 0.49191272258758545, 2.0220110416412354, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03376058489084244, -1.1751353740692139, 1.2754634618759155, 1.7423895597457886, -1.2502861022949219, -1.7477302551269531, -0.01670129969716072, 0.01670129969716072, 0.9214541912078857, -0.42858776450157166, 0.3248264193534851, -1.7824444770812988, 0.49191272258758545, 2.023155450820923, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.031090257689356804, -1.1747539043426514, 1.3376439809799194, 1.7484931945800781, -1.2487602233886719, -1.7477302551269531, -0.01670129969716072, 0.01670129969716072, 0.9214541912078857, -0.42858776450157166, 0.3233005404472351, -1.7721446752548218, 0.49229419231414795, 2.0235371589660645, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.05397878959774971, -1.1713206768035889, 1.419661283493042, 1.7561227083206177, -1.2483787536621094, -1.7477302551269531, -0.01670129969716072, 0.01670129969716072, 0.9218356609344482, -0.42858776450157166, 0.32101166248321533, -1.7641336917877197, 0.49229419231414795, 2.023155450820923, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10738536715507507, -1.1736094951629639, 1.4925230741500854, 1.6882200241088867, -1.2457083463668823, -1.7053864002227783, -0.018065331503748894, 0.018065331503748894, 0.9214541912078857, -0.42896926403045654, 0.31795987486839294, -1.7603188753128052, 0.49267566204071045, 2.023155450820923, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.182154580950737, -1.2029831409454346, 1.517700433731079, 1.5291447639465332, -1.2457083463668823, -1.6180285215377808, -0.026801371946930885, 0.026801371946930885, 0.9218356609344482, -0.43163958191871643, 0.31681543588638306, -1.7599374055862427, 0.49267566204071045, 2.0227739810943604, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28477150201797485, -1.269741415977478, 1.5108338594436646, 1.422713041305542, -1.2457083463668823, -1.5455482006072998, -0.03231526538729668, 0.03231526538729668, 0.9214541912078857, -0.4373617172241211, 0.31719690561294556, -1.7572671175003052, 0.49229419231414795, 2.0220110416412354, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3873884081840515, -1.3632028102874756, 1.5035858154296875, 1.4093613624572754, -1.2430380582809448, -1.504348874092102, -0.034, 0.034, 0.9218356609344482, -0.44613564014434814, 0.31834134459495544, -1.7568856477737427, 0.49229419231414795, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46139466762542725, -1.4566643238067627, 1.5047303438186646, 1.4406423568725586, -1.2178606986999512, -1.4803158044815063, -0.034, 0.034, 0.9214541912078857, -0.4510948359966278, 0.31872281432151794, -1.7568856477737427, 0.49153125286102295, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5006866455078125, -1.5409704446792603, 1.5222781896591187, 1.4711604118347168, -1.1987868547439575, -1.4662013053894043, -0.034, 0.034, 0.9214541912078857, -0.4545281231403351, 0.31872281432151794, -1.7561227083206177, 0.49191272258758545, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5140383243560791, -1.6062028408050537, 1.5383001565933228, 1.4932860136032104, -1.180094599723816, -1.4585717916488647, -0.034, 0.034, 0.9218356609344482, -0.45834288001060486, 0.31872281432151794, -1.7534523010253906, 0.49153125286102295, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5167086124420166, -1.6466392278671265, 1.5474555492401123, 1.5077821016311646, -1.1552987098693848, -1.4551384449005127, -0.034, 0.034, 0.9218356609344482, -0.46177613735198975, 0.31872281432151794, -1.7530708312988281, 0.49191272258758545, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5140383243560791, -1.6702907085418701, 1.5539406538009644, 1.512359857559204, -1.1327916383743286, -1.4513237476348877, -0.034, 0.034, 0.9214541912078857, -0.46292057633399963, 0.31872281432151794, -1.7523078918457031, 0.49229419231414795, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5102235674858093, -1.6847867965698242, 1.5596628189086914, 1.519226312637329, -1.1190584897994995, -1.4482718706130981, -0.034, 0.034, 0.9218356609344482, -0.4648279547691345, 0.31872281432151794, -1.7496376037597656, 0.49229419231414795, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.506027340888977, -1.6943236589431763, 1.5634775161743164, 1.5234225988388062, -1.1079957485198975, -1.4482718706130981, -0.034, 0.034, 0.9214541912078857, -0.4663538634777069, 0.31986725330352783, -1.7496376037597656, 0.49229419231414795, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5006866455078125, -1.7015717029571533, 1.5657663345336914, 1.5276188850402832, -1.0942625999450684, -1.4482718706130981, -0.034, 0.034, 0.9214541912078857, -0.4694056510925293, 0.32024872303009033, -1.7492561340332031, 0.49382010102272034, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4964904189109802, -1.7095826864242554, 1.5676738023757935, 1.5344853401184082, -1.0820554494857788, -1.4482718706130981, -0.034, 0.034, 0.9214541912078857, -0.4701686203479767, 0.32063019275665283, -1.7492561340332031, 0.49343863129615784, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49153125286102295, -1.7168307304382324, 1.571869969367981, 1.5375372171401978, -1.0656518936157227, -1.4482718706130981, -0.034, 0.034, 0.9210727214813232, -0.4701686203479767, 0.32063019275665283, -1.7492561340332031, 0.49343863129615784, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4873350262641907, -1.725223183631897, 1.574158787727356, 1.5379186868667603, -1.0606927871704102, -1.4482718706130981, -0.034, 0.034, 0.9206912517547607, -0.4705500900745392, 0.32063019275665283, -1.7488746643066406, 0.49343863129615784, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4835202693939209, -1.732471227645874, 1.576066255569458, 1.5398260354995728, -1.0576409101486206, -1.4482718706130981, -0.034, 0.034, 0.9206912517547607, -0.4705500900745392, 0.32063019275665283, -1.7484931945800781, 0.49343863129615784, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4812313914299011, -1.738956332206726, 1.579118013381958, 1.5421148538589478, -1.0538262128829956, -1.4482718706130981, -0.034, 0.034, 0.9203097820281982, -0.4705500900745392, 0.32063019275665283, -1.7481117248535156, 0.49343863129615784, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4808499217033386, -1.7465858459472656, 1.5817883014678955, 1.5421148538589478, -1.0523003339767456, -1.4482718706130981, -0.034, 0.034, 0.9199283123016357, -0.4709315598011017, 0.32063019275665283, -1.7462043762207031, 0.49343863129615784, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4808499217033386, -1.7530708312988281, 1.58407723903656, 1.5417333841323853, -1.050774335861206, -1.4475089311599731, -0.034, 0.034, 0.9199283123016357, -0.4713130295276642, 0.32063019275665283, -1.7465858459472656, 0.49343863129615784, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4812313914299011, -1.7591744661331177, 1.5852216482162476, 1.5417333841323853, -1.050774335861206, -1.4463645219802856, -0.034, 0.034, 0.9199283123016357, -0.4709315598011017, 0.32063019275665283, -1.7465858459472656, 0.49343863129615784, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4808499217033386, -1.7633707523345947, 1.5852216482162476, 1.5417333841323853, -1.050774335861206, -1.4448386430740356, -0.034, 0.034, 0.9195467829704285, -0.4713130295276642, 0.32063019275665283, -1.7469673156738281, 0.49343863129615784, 2.020866632461548, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4812313914299011, -1.7668039798736572, 1.5852216482162476, 1.5417333841323853, -1.050774335861206, -1.4444571733474731, -0.034, 0.034, 0.919165313243866, -0.4713130295276642, 0.32063019275665283, -1.7469673156738281, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4812313914299011, -1.7679483890533447, 1.5852216482162476, 1.5417333841323853, -1.050774335861206, -1.4444571733474731, -0.034, 0.034, 0.917639434337616, -0.4713130295276642, 0.32063019275665283, -1.7465858459472656, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4812313914299011, -1.7698558568954468, 1.5852216482162476, 1.5417333841323853, -1.050774335861206, -1.4440757036209106, -0.034, 0.034, 0.917639434337616, -0.4713130295276642, 0.32063019275665283, -1.7465858459472656, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4812313914299011, -1.7717632055282593, 1.5852216482162476, 1.5421148538589478, -1.050774335861206, -1.4440757036209106, -0.033781856298446655, 0.033781856298446655, 0.917639434337616, -0.4713130295276642, 0.32063019275665283, -1.7465858459472656, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4819943606853485, -1.7717632055282593, 1.5852216482162476, 1.5463111400604248, -1.050774335861206, -1.4433127641677856, -0.030467912554740906, 0.030467912554740906, 0.917639434337616, -0.4713130295276642, 0.32063019275665283, -1.7465858459472656, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.482375830411911, -1.7717632055282593, 1.58407723903656, 1.5463111400604248, -1.050774335861206, -1.4429312944412231, -0.029267629608511925, 0.029267629608511925, 0.917639434337616, -0.4713130295276642, 0.32063019275665283, -1.7462043762207031, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4827573001384735, -1.7717632055282593, 1.5810253620147705, 1.5485999584197998, -1.050011396408081, -1.4425498247146606, -0.029166625812649727, 0.029166625812649727, 0.917639434337616, -0.4713130295276642, 0.32063019275665283, -1.7462043762207031, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4827573001384735, -1.7717632055282593, 1.577592134475708, 1.5485999584197998, -1.0503928661346436, -1.4425498247146606, -0.028963878750801086, 0.028963878750801086, 0.917639434337616, -0.4713130295276642, 0.32063019275665283, -1.7462043762207031, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4827573001384735, -1.7717632055282593, 1.574540376663208, 1.5482184886932373, -1.050011396408081, -1.4429312944412231, -0.028880657628178596, 0.028880657628178596, 0.917639434337616, -0.4713130295276642, 0.32063019275665283, -1.7462043762207031, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.482375830411911, -1.7717632055282593, 1.572632908821106, 1.5478370189666748, -1.050011396408081, -1.4429312944412231, -0.028815818950533867, 0.028815818950533867, 0.917639434337616, -0.4713130295276642, 0.32063019275665283, -1.7462043762207031, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4808499217033386, -1.7725261449813843, 1.5714884996414185, 1.5455482006072998, -1.0553520917892456, -1.4425498247146606, -0.027879536151885986, 0.027879536151885986, 0.917639434337616, -0.4713130295276642, 0.32063019275665283, -1.7462043762207031, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4808499217033386, -1.7729076147079468, 1.5714884996414185, 1.5451667308807373, -1.052681803703308, -1.4429312944412231, -0.026974396780133247, 0.026974396780133247, 0.917639434337616, -0.4713130295276642, 0.32063019275665283, -1.745822787284851, 0.49343863129615784, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4808499217033386, -1.7729076147079468, 1.571869969367981, 1.5451667308807373, -1.051155924797058, -1.4425498247146606, -0.027557220309972763, 0.027557220309972763, 0.917639434337616, -0.4716945290565491, 0.32063019275665283, -1.745822787284851, 0.49343863129615784, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4808499217033386, -1.7729076147079468, 1.574540376663208, 1.5451667308807373, -1.050774335861206, -1.4429312944412231, -0.029459752142429352, 0.029459752142429352, 0.917639434337616, -0.4716945290565491, 0.32063019275665283, -1.745822787284851, 0.49343863129615784, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4808499217033386, -1.7729076147079468, 1.5779736042022705, 1.5455482006072998, -1.050774335861206, -1.4429312944412231, -0.029669087380170822, 0.029669087380170822, 0.917639434337616, -0.4716945290565491, 0.32063019275665283, -1.745822787284851, 0.49343863129615784, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4808499217033386, -1.7736705541610718, 1.5802624225616455, 1.5451667308807373, -1.0503928661346436, -1.4429312944412231, -0.029669087380170822, 0.029669087380170822, 0.917639434337616, -0.4716945290565491, 0.32063019275665283, -1.745822787284851, 0.49343863129615784, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7748149633407593, 1.583314299583435, 1.5455482006072998, -1.050774335861206, -1.4429312944412231, -0.029678164049983025, 0.029678164049983025, 0.917639434337616, -0.4720759987831116, 0.32063019275665283, -1.745822787284851, 0.49343863129615784, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7771037817001343, 1.5859845876693726, 1.5455482006072998, -1.050011396408081, -1.4429312944412231, -0.029678164049983025, 0.029678164049983025, 0.917639434337616, -0.4720759987831116, 0.32063019275665283, -1.745822787284851, 0.49343863129615784, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7782483100891113, 1.5875104665756226, 1.5455482006072998, -1.042000412940979, -1.4433127641677856, -0.030307844281196594, 0.030307844281196594, 0.917639434337616, -0.4720759987831116, 0.32063019275665283, -1.745822787284851, 0.49343863129615784, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7793927192687988, 1.5882734060287476, 1.5455482006072998, -1.0336079597473145, -1.4433127641677856, -0.031702060252428055, 0.031702060252428055, 0.917639434337616, -0.4720759987831116, 0.32063019275665283, -1.745822787284851, 0.49343863129615784, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7801556587219238, 1.5882734060287476, 1.5455482006072998, -1.0263599157333374, -1.4433127641677856, -0.032090239226818085, 0.032090239226818085, 0.917639434337616, -0.4720759987831116, 0.32063019275665283, -1.745822787284851, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7820630073547363, 1.5882734060287476, 1.5455482006072998, -1.0206378698349, -1.4433127641677856, -0.03208186477422714, 0.03208186477422714, 0.917639434337616, -0.4720759987831116, 0.32063019275665283, -1.745822787284851, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7828259468078613, 1.5882734060287476, 1.5455482006072998, -1.0152971744537354, -1.4433127641677856, -0.03202315792441368, 0.03202315792441368, 0.9172579646110535, -0.4720759987831116, 0.32063019275665283, -1.7454413175582886, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7843518257141113, 1.5882734060287476, 1.5455482006072998, -1.0145342350006104, -1.4433127641677856, -0.030636025592684746, 0.030636025592684746, 0.9172579646110535, -0.4720759987831116, 0.32063019275665283, -1.7454413175582886, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7858778238296509, 1.587891936302185, 1.5455482006072998, -1.0137712955474854, -1.4433127641677856, -0.029723506420850754, 0.029723506420850754, 0.9172579646110535, -0.4720759987831116, 0.32063019275665283, -1.7454413175582886, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7862592935562134, 1.58712899684906, 1.5455482006072998, -1.0137712955474854, -1.4433127641677856, -0.029532693326473236, 0.029532693326473236, 0.9172579646110535, -0.4720759987831116, 0.32063019275665283, -1.7454413175582886, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7866407632827759, 1.5859845876693726, 1.5455482006072998, -1.0130083560943604, -1.4433127641677856, -0.02945062331855297, 0.02945062331855297, 0.9172579646110535, -0.4720759987831116, 0.32063019275665283, -1.7454413175582886, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7866407632827759, 1.584840178489685, 1.5455482006072998, -1.0122454166412354, -1.4436942338943481, -0.02904694154858589, 0.02904694154858589, 0.9172579646110535, -0.4720759987831116, 0.32063019275665283, -1.745059847831726, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4804684519767761, -1.7866407632827759, 1.5844587087631226, 1.5455482006072998, -1.0114823579788208, -1.4436942338943481, -0.029000816866755486, 0.029000816866755486, 0.916876494884491, -0.4720759987831116, 0.32063019275665283, -1.745059847831726, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4800869822502136, -1.7862592935562134, 1.5859845876693726, 1.5455482006072998, -1.0122454166412354, -1.4436942338943481, -0.029000816866755486, 0.029000816866755486, 0.9164950251579285, -0.4720759987831116, 0.32063019275665283, -1.745059847831726, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47894254326820374, -1.7854963541030884, 1.5917067527770996, 1.5459296703338623, -1.0156786441802979, -1.4433127641677856, -0.029000816866755486, 0.029000816866755486, 0.9164950251579285, -0.4720759987831116, 0.32063019275665283, -1.7446783781051636, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47703516483306885, -1.7759593725204468, 1.6062028408050537, 1.5493628978729248, -1.0145342350006104, -1.4436942338943481, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.4720759987831116, 0.32063019275665283, -1.7423895597457886, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.47703516483306885, -1.7622263431549072, 1.6252765655517578, 1.5588998794555664, -1.0152971744537354, -1.4436942338943481, -0.029000816866755486, 0.029000816866755486, 0.9164950251579285, -0.4720759987831116, 0.32063019275665283, -1.742771029472351, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4808499217033386, -1.732471227645874, 1.6481651067733765, 1.58865487575531, -1.0156786441802979, -1.4436942338943481, -0.029000816866755486, 0.029000816866755486, 0.9164950251579285, -0.4720759987831116, 0.32063019275665283, -1.742771029472351, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4800869822502136, -1.6882200241088867, 1.6760128736495972, 1.6092545986175537, -1.0355154275894165, -1.4444571733474731, -0.029000816866755486, 0.029000816866755486, 0.9164950251579285, -0.4720759987831116, 0.32063019275665283, -1.743533968925476, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4667353332042694, -1.6348134279251099, 1.7084382772445679, 1.6371023654937744, -1.101129174232483, -1.4650568962097168, -0.028991585597395897, 0.028991585597395897, 0.916876494884491, -0.4720759987831116, 0.32063019275665283, -1.745822787284851, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.439269095659256, -1.5577553510665894, 1.7359044551849365, 1.6851682662963867, -1.1926833391189575, -1.4925230741500854, -0.029000816866755486, 0.029000816866755486, 0.9164950251579285, -0.4720759987831116, 0.32063019275665283, -1.7454413175582886, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3850995600223541, -1.4600976705551147, 1.7351415157318115, 1.7301822900772095, -1.27927827835083, -1.5287632942199707, -0.029000816866755486, 0.029000816866755486, 0.9164950251579285, -0.4720759987831116, 0.32063019275665283, -1.7454413175582886, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.30270084738731384, -1.346799373626709, 1.6908903121948242, 1.7626078128814697, -1.3403143882751465, -1.5573738813400269, -0.029000816866755486, 0.029000816866755486, 0.9164950251579285, -0.4720759987831116, 0.32063019275665283, -1.7454413175582886, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2149614691734314, -1.2365529537200928, 1.6138323545455933, 1.7748149633407593, -1.3719768524169922, -1.5730143785476685, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.4724574685096741, 0.32063019275665283, -1.7454413175582886, 0.49382010102272034, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1371404528617859, -1.1472877264022827, 1.5199893712997437, 1.7870222330093384, -1.3937208652496338, -1.5764477252960205, -0.029000816866755486, 0.029000816866755486, 0.916876494884491, -0.4728389382362366, 0.32063019275665283, -1.7454413175582886, 0.49420157074928284, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09517814964056015, -1.0870145559310913, 1.4391164779663086, 1.7912184000015259, -1.4009689092636108, -1.576066255569458, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47398337721824646, 0.32063019275665283, -1.7454413175582886, 0.49420157074928284, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.0864042118191719, -1.054970622062683, 1.3826581239700317, 1.7919813394546509, -1.403639316558838, -1.5722514390945435, -0.029000816866755486, 0.029000816866755486, 0.9164950251579285, -0.47474631667137146, 0.3213931620121002, -1.7454413175582886, 0.49420157074928284, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.09632257372140884, -1.0408560037612915, 1.3464179039001465, 1.7915998697280884, -1.3906691074371338, -1.5707255601882935, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47589075565338135, 0.3217746317386627, -1.7454413175582886, 0.49458304047584534, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10776684433221817, -1.0400930643081665, 1.3273441791534424, 1.7889295816421509, -1.3769359588623047, -1.568818211555481, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47550925612449646, 0.3217746317386627, -1.7454413175582886, 0.49496451020240784, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11615930497646332, -1.047722578048706, 1.3178073167800903, 1.7870222330093384, -1.3689249753952026, -1.5691996812820435, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47550925612449646, 0.3217746317386627, -1.7454413175582886, 0.49496451020240784, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12111848592758179, -1.058022379875183, 1.3120851516723633, 1.7839703559875488, -1.3616769313812256, -1.568818211555481, -0.028991585597395897, 0.028991585597395897, 0.916876494884491, -0.47550925612449646, 0.3217746317386627, -1.745059847831726, 0.49496451020240784, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12264438718557358, -1.0679408311843872, 1.3097963333129883, 1.7816815376281738, -1.356717824935913, -1.5691996812820435, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47550925612449646, 0.3217746317386627, -1.745059847831726, 0.4953460097312927, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12493324279785156, -1.0767147541046143, 1.3086519241333008, 1.7820630073547363, -1.353284478187561, -1.568818211555481, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47550925612449646, 0.3217746317386627, -1.745059847831726, 0.4953460097312927, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12798504531383514, -1.0851072072982788, 1.3078888654708862, 1.7809185981750488, -1.350232720375061, -1.568818211555481, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47550925612449646, 0.3217746317386627, -1.745059847831726, 0.4957274794578552, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12836651504039764, -1.0927367210388184, 1.3078888654708862, 1.7809185981750488, -1.345273494720459, -1.568818211555481, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47589075565338135, 0.3217746317386627, -1.745059847831726, 0.4961089491844177, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12874799966812134, -1.0992218255996704, 1.3075073957443237, 1.7813000679016113, -1.342221736907959, -1.568818211555481, -0.029000816866755486, 0.029000816866755486, 0.9164950251579285, -0.47589075565338135, 0.3217746317386627, -1.745059847831726, 0.4961089491844177, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12836651504039764, -1.1053253412246704, 1.3067444562911987, 1.7809185981750488, -1.337262511253357, -1.568818211555481, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47627222537994385, 0.3221561014652252, -1.745059847831726, 0.4957274794578552, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12684062123298645, -1.1118104457855225, 1.3063629865646362, 1.7809185981750488, -1.3353551626205444, -1.5691996812820435, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47627222537994385, 0.3221561014652252, -1.745059847831726, 0.4957274794578552, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12378881871700287, -1.1175326108932495, 1.3048371076583862, 1.7809185981750488, -1.332684874534607, -1.568818211555481, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47665369510650635, 0.3225375711917877, -1.745059847831726, 0.4957274794578552, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12149996310472488, -1.122873306274414, 1.3010224103927612, 1.7809185981750488, -1.3307774066925049, -1.568818211555481, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47665369510650635, 0.3225375711917877, -1.745059847831726, 0.4961089491844177, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11768520623445511, -1.127450942993164, 1.2933928966522217, 1.7809185981750488, -1.3284885883331299, -1.5691996812820435, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47703516483306885, 0.3225375711917877, -1.7431524991989136, 0.4957274794578552, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11387044936418533, -1.1301213502883911, 1.284618854522705, 1.7809185981750488, -1.3284885883331299, -1.568818211555481, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47703516483306885, 0.3225375711917877, -1.7431524991989136, 0.4957274794578552, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11158160120248795, -1.1320286989212036, 1.2781338691711426, 1.7809185981750488, -1.3288700580596924, -1.5691996812820435, -0.028991585597395897, 0.028991585597395897, 0.9164950251579285, -0.47741663455963135, 0.3225375711917877, -1.742771029472351, 0.4961089491844177, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10891126841306686, -1.1335545778274536, 1.274319052696228, 1.7809185981750488, -1.3284885883331299, -1.5691996812820435, -0.029212569817900658, 0.029212569817900658, 0.9164950251579285, -0.47779813408851624, 0.3225375711917877, -1.7431524991989136, 0.4961089491844177, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10776684433221817, -1.1335545778274536, 1.2724117040634155, 1.7809185981750488, -1.3261997699737549, -1.5691996812820435, -0.029523583129048347, 0.029523583129048347, 0.9164950251579285, -0.47779813408851624, 0.3225375711917877, -1.7431524991989136, 0.4968718886375427, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.10967422276735306, -1.1335545778274536, 1.2724117040634155, 1.7813000679016113, -1.3197146654129028, -1.5691996812820435, -0.029940389096736908, 0.029940389096736908, 0.9164950251579285, -0.47856107354164124, 0.3225375711917877, -1.7431524991989136, 0.4976348578929901, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11310750246047974, -1.1335545778274536, 1.2747005224227905, 1.7809185981750488, -1.3139925003051758, -1.5691996812820435, -0.03136836364865303, 0.03136836364865303, 0.916876494884491, -0.47856107354164124, 0.3229190409183502, -1.742771029472351, 0.4976348578929901, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11577782779932022, -1.1335545778274536, 1.281567096710205, 1.7809185981750488, -1.3113222122192383, -1.568818211555481, -0.03182082995772362, 0.03182082995772362, 0.9164950251579285, -0.47856107354164124, 0.3229190409183502, -1.742771029472351, 0.4976348578929901, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.11959258466959, -1.1335545778274536, 1.2998778820037842, 1.7813000679016113, -1.3040741682052612, -1.5691996812820435, -0.03181236609816551, 0.03181236609816551, 0.9164950251579285, -0.47856107354164124, 0.3229190409183502, -1.742771029472351, 0.4976348578929901, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12684062123298645, -1.1335545778274536, 1.339551329612732, 1.7813000679016113, -1.2937743663787842, -1.5691996812820435, -0.027898436412215233, 0.027898436412215233, 0.9164950251579285, -0.47856107354164124, 0.3229190409183502, -1.7423895597457886, 0.4976348578929901, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1489662081003189, -1.1263065338134766, 1.3841840028762817, 1.7820630073547363, -1.2804226875305176, -1.5691996812820435, -0.014281234703958035, 0.014281234703958035, 0.9164950251579285, -0.47856107354164124, 0.3229190409183502, -1.7423895597457886, 0.4976348578929901, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1989395022392273, -1.0870145559310913, 1.3788433074951172, 1.7797741889953613, -1.2422751188278198, -1.5691996812820435, -0.00030602276092395186, 0.00030602276092395186, 0.9164950251579285, -0.47856107354164124, 0.3229190409183502, -1.7423895597457886, 0.4976348578929901, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.272945761680603, -1.0069047212600708, 1.2968261241912842, 1.7492561340332031, -1.1511024236679077, -1.5691996812820435, -0.0, 0.0, 0.916876494884491, -0.47665369510650635, 0.32520791888237, -1.745822787284851, 0.4964904189109802, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3686961233615875, -0.8939879536628723, 1.1499580144882202, 1.7130159139633179, -1.0072861909866333, -1.568818211555481, -0.0, 0.0, 0.9164950251579285, -0.4674982726573944, 0.32520791888237, -1.7561227083206177, 0.47474631667137146, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.46292057633399963, -0.7734416723251343, 0.9737163186073303, 1.6802090406417847, -0.8463035225868225, -1.568818211555481, -0.0, 0.0, 0.9164950251579285, -0.4552910625934601, 0.3225375711917877, -1.7607003450393677, 0.42858776450157166, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5251010656356812, -0.6589990258216858, 0.7963302135467529, 1.6195544004440308, -0.7021057605743408, -1.5691996812820435, -0.0, 0.0, 0.9157320261001587, -0.44460976123809814, 0.31567102670669556, -1.7763408422470093, 0.3736552894115448, 2.0220110416412354, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5590524077415466, -0.5525673031806946, 0.6376363635063171, 1.5482184886932373, -0.5910963416099548, -1.5691996812820435, -0.0, 0.0, 0.9153505563735962, -0.4362172782421112, 0.308804452419281, -1.80113685131073, 0.3084229826927185, 2.0220110416412354, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5758373141288757, -0.46253910660743713, 0.5094605684280396, 1.4967193603515625, -0.5151827335357666, -1.5691996812820435, -0.0, 0.0, 0.9138246774673462, -0.43049514293670654, 0.291638046503067, -1.8297474384307861, 0.2450980395078659, 2.022392511367798, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5952925682067871, -0.39539939165115356, 0.4076066315174103, 1.4520866870880127, -0.4510948359966278, -1.5691996812820435, -0.0, 0.0, 0.9107728600502014, -0.41561761498451233, 0.272945761680603, -1.8480583429336548, 0.19207294285297394, 2.022392511367798, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6204699873924255, -0.3561074137687683, 0.3397039771080017, 1.4230945110321045, -0.3923476040363312, -1.5691996812820435, -0.0, 0.0, 0.9073395729064941, -0.38242924213409424, 0.2481498420238495, -1.8587396144866943, 0.1501106321811676, 2.022392511367798, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6338216066360474, -0.33550775051116943, 0.30231937766075134, 1.409742832183838, -0.35152971744537354, -1.5691996812820435, -0.0, 0.0, 0.9058136940002441, -0.33169299364089966, 0.21725031733512878, -1.8636988401412964, 0.12226291000843048, 2.0220110416412354, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6532768607139587, -0.3248264193534851, 0.28248265385627747, 1.3998245000839233, -0.3236820101737976, -1.5691996812820435, -0.0, 0.0, 0.9050507545471191, -0.2595941126346588, 0.17986571788787842, -1.8667505979537964, 0.1028076633810997, 2.0220110416412354, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6750209927558899, -0.32101166248321533, 0.27103838324546814, 1.3941023349761963, -0.30003052949905396, -1.5691996812820435, -0.0, 0.0, 0.9012359976768494, -0.1966506391763687, 0.1493476778268814, -1.8621728420257568, 0.09250781685113907, 2.0220110416412354, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6876096725463867, -0.32673379778862, 0.2653162479400635, 1.3914320468902588, -0.2805752754211426, -1.5691996812820435, -0.0, 0.0, 0.8775845170021057, -0.16041046380996704, 0.13027389347553253, -1.8499656915664673, 0.086785688996315, 2.022392511367798, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.691042959690094, -0.3412298858165741, 0.2637903392314911, 1.3899061679840088, -0.25387197732925415, -1.5691996812820435, -0.0, 0.0, 0.8390554785728455, -0.14171816408634186, 0.11310750246047974, -1.8396657705307007, 0.07610437273979187, 2.022392511367798, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6979095339775085, -0.3725108802318573, 0.2588311731815338, 1.3895246982574463, -0.20618753135204315, -1.569581151008606, -0.0, 0.0, 0.7967116832733154, -0.1356145590543747, 0.09021896868944168, -1.8198291063308716, 0.043678950518369675, 2.0227739810943604, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7108796834945679, -0.404173344373703, 0.2573052644729614, 1.3883802890777588, -0.1672770231962204, -1.5779736042022705, -0.0, 0.0, 0.775730550289154, -0.12951095402240753, 0.07267109304666519, -1.8060959577560425, 0.020027466118335724, 2.023155450820923, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7150759100914001, -0.4083695709705353, 0.2500572204589844, 1.3868544101715088, -0.152399480342865, -1.577592134475708, -0.0, 0.0, 0.7661936283111572, -0.10547798871994019, 0.05207141116261482, -1.8076218366622925, -0.0009536888683214784, 2.0227739810943604, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7249943017959595, -0.3858625292778015, 0.23327229917049408, 1.3868544101715088, -0.13866636157035828, -1.5756847858428955, -0.0, 0.0, 0.7600900530815125, -0.051689937710762024, 0.016975661739706993, -1.824025273323059, -0.03299763426184654, 2.022392511367798, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7482643127441406, -0.3397039771080017, 0.20504310727119446, 1.3879988193511963, -0.11120012402534485, -1.5604257583618164, -0.0, 0.0, 0.7600900530815125, 0.02880140393972397, -0.025749599561095238, -1.8446249961853027, -0.06694895774126053, 2.022392511367798, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7990005612373352, -0.2615014910697937, 0.1501106321811676, 1.425001859664917, -0.056267641484737396, -1.5489814281463623, -0.0, 0.0, 0.7612344622612, 0.08297093212604523, -0.054741740226745605, -1.8640803098678589, -0.08945601433515549, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8630884289741516, -0.15392538905143738, 0.07572289556264877, 1.488326907157898, 0.016975661739706993, -1.5413519144058228, -0.0, 0.0, 0.7654306888580322, 0.10891126841306686, -0.06885633617639542, -1.8747615814208984, -0.10547798871994019, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8936064839363098, -0.04482337832450867, 0.013160906732082367, 1.5348668098449707, 0.08068207651376724, -1.5383001565933228, -0.0, 0.0, 0.7669565677642822, 0.12340734153985977, -0.07686731964349747, -1.8797208070755005, -0.11196307092905045, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9050507545471191, 0.01506828423589468, -0.023460745811462402, 1.5619516372680664, 0.11348897218704224, -1.5421148538589478, -0.0, 0.0, 0.767719566822052, 0.12912946939468384, -0.07953765243291855, -1.882391095161438, -0.11692225188016891, 2.0212481021881104, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9092469811439514, 0.04787518084049225, -0.042153049260377884, 1.5764477252960205, 0.13828489184379578, -1.5474555492401123, -0.0, 0.0, 0.768482506275177, 0.1340886503458023, -0.08144503086805344, -1.8827725648880005, -0.12073700875043869, 2.021629571914673, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9111543297767639, 0.06733043491840363, -0.05397878959774971, 1.58712899684906, 0.1501106321811676, -1.5527962446212769, -0.0, 0.0, 0.768482506275177, 0.135233074426651, -0.08258945494890213, -1.8827725648880005, -0.12073700875043869, 2.0227739810943604, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9054322242736816, 0.08335240930318832, -0.06160829961299896, 1.590562343597412, 0.15735866129398346, -1.560807228088379, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08335240930318832, -1.8827725648880005, -0.12302586436271667, 2.0235371589660645, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9004730582237244, 0.09060044586658478, -0.06542305648326874, 1.594377040863037, 0.16231784224510193, -1.5691996812820435, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08411535620689392, -1.8827725648880005, -0.12264438718557358, 2.023918628692627, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8966583013534546, 0.09441519528627396, -0.06694895774126053, 1.5947585105895996, 0.164988175034523, -1.577592134475708, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08487831056118011, -1.8827725648880005, -0.12264438718557358, 2.023918628692627, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8909361362457275, 0.09517814964056015, -0.06771191209554672, 1.5947585105895996, 0.1653696447610855, -1.58407723903656, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08525978773832321, -1.8827725648880005, -0.12264438718557358, 2.023918628692627, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8901731967926025, 0.09632257372140884, -0.06771191209554672, 1.5955214500427246, 0.1653696447610855, -1.587891936302185, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08525978773832321, -1.8827725648880005, -0.12264438718557358, 2.0243000984191895, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8871213793754578, 0.09708552807569504, -0.06771191209554672, 1.595139980316162, 0.1657511293888092, -1.591325283050537, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08525978773832321, -1.8827725648880005, -0.12264438718557358, 2.0243000984191895, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8871213793754578, 0.09746700525283813, -0.06771191209554672, 1.595139980316162, 0.1661325991153717, -1.591325283050537, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08525978773832321, -1.8827725648880005, -0.12264438718557358, 2.024681568145752, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8867399096488953, 0.09746700525283813, -0.06771191209554672, 1.595139980316162, 0.1665140837430954, -1.5917067527770996, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08525978773832321, -1.8827725648880005, -0.12264438718557358, 2.024681568145752, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8859769701957703, 0.09746700525283813, -0.06809338182210922, 1.5947585105895996, 0.1668955534696579, -1.5924696922302246, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08525978773832321, -1.8827725648880005, -0.12264438718557358, 2.024681568145752, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06809338182210922, 1.5947585105895996, 0.1668955534696579, -1.5932326316833496, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08525978773832321, -1.883154034614563, -0.12264438718557358, 2.024681568145752, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06809338182210922, 1.594377040863037, 0.1668955534696579, -1.595139980316162, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08525978773832321, -1.883154034614563, -0.12264438718557358, 2.024681568145752, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.594377040863037, 0.1668955534696579, -1.5947585105895996, -0.0, 0.0, 0.768482506275177, 0.13828489184379578, -0.08525978773832321, -1.8835355043411255, -0.12264438718557358, 2.024681568145752, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.594377040863037, 0.1668955534696579, -1.5947585105895996, -0.0, 0.0, 0.768482506275177, 0.13752193748950958, -0.08525978773832321, -1.884679913520813, -0.12264438718557358, 2.024681568145752, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.594377040863037, 0.1668955534696579, -1.5947585105895996, -0.0, 0.0, 0.768482506275177, 0.13752193748950958, -0.08525978773832321, -1.885442852973938, -0.12302586436271667, 2.024681568145752, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.594377040863037, 0.1668955534696579, -1.5947585105895996, -0.0, 0.0, 0.768482506275177, 0.1371404528617859, -0.08525978773832321, -1.885442852973938, -0.12302586436271667, 2.0250630378723145, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.594377040863037, 0.1668955534696579, -1.5947585105895996, -0.0, 0.0, 0.768482506275177, 0.1371404528617859, -0.08525978773832321, -1.885442852973938, -0.12302586436271667, 2.0250630378723145, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.5947585105895996, 0.1668955534696579, -1.594377040863037, -0.0, 0.0, 0.768482506275177, 0.1371404528617859, -0.08525978773832321, -1.8850613832473755, -0.12340734153985977, 2.0250630378723145, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.5947585105895996, 0.1668955534696579, -1.593614101409912, -0.0, 0.0, 0.7688639760017395, 0.1367589831352234, -0.08525978773832321, -1.8739986419677734, -0.12378881871700287, 2.020103693008423, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.5955214500427246, 0.1668955534696579, -1.591325283050537, -0.0, 0.0, 0.776493489742279, 0.1367589831352234, -0.08525978773832321, -1.7843518257141113, -0.12378881871700287, 1.9270237684249878, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.5978103876113892, 0.1668955534696579, -1.591325283050537, -0.0, 0.0, 0.7894636392593384, 0.1356145590543747, -0.08525978773832321, -1.6901273727416992, -0.12417028844356537, 1.8293659687042236, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.5978103876113892, 0.1668955534696579, -1.591325283050537, -0.0, 0.0, 0.7951858043670654, 0.1340886503458023, -0.08525978773832321, -1.636720895767212, -0.12417028844356537, 1.7751964330673218, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.5978103876113892, 0.1668955534696579, -1.591325283050537, -0.0, 0.0, 0.7986190319061279, 0.1329442262649536, -0.08525978773832321, -1.6069657802581787, -0.12378881871700287, 1.745059847831726, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.5978103876113892, 0.1668955534696579, -1.591325283050537, -0.0, 0.0, 0.8005264401435852, 0.13179980218410492, -0.08525978773832321, -1.5901808738708496, -0.12378881871700287, 1.726749062538147, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.5978103876113892, 0.1668955534696579, -1.5909438133239746, -0.0, 0.0, 0.8016708493232727, 0.13141833245754242, -0.08525978773832321, -1.5802624225616455, -0.12340734153985977, 1.7168307304382324, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.5978103876113892, 0.1668955534696579, -1.591325283050537, -0.0, 0.0, 0.8016708493232727, 0.13141833245754242, -0.08525978773832321, -1.5730143785476685, -0.12340734153985977, 1.7107270956039429, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06847485899925232, 1.5978103876113892, 0.1668955534696579, -1.5909438133239746, -0.0, 0.0, 0.8016708493232727, 0.13141833245754242, -0.08525978773832321, -1.570344090461731, -0.12302586436271667, 1.7080568075180054, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.09746700525283813, -0.06923781335353851, 1.5978103876113892, 0.1668955534696579, -1.5909438133239746, -0.0, 0.0, 0.8016708493232727, 0.13141833245754242, -0.08525978773832321, -1.5699626207351685, -0.12302586436271667, 1.7050049304962158, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8863584399223328, 0.09975585341453552, -0.0711451917886734, 1.5978103876113892, 0.1684214472770691, -1.5909438133239746, -0.0, 0.0, 0.8016708493232727, 0.13141833245754242, -0.08525978773832321, -1.5691996812820435, -0.12302586436271667, 1.7046234607696533, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8867399096488953, 0.1035706102848053, -0.07305257022380829, 1.5978103876113892, 0.16918440163135529, -1.5909438133239746, -0.0, 0.0, 0.8016708493232727, 0.13141833245754242, -0.08525978773832321, -1.566147804260254, -0.12264438718557358, 1.7042419910430908, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8863584399223328, 0.10700388997793198, -0.07343403995037079, 1.5978103876113892, 0.17223620414733887, -1.5909438133239746, -0.0, 0.0, 0.8016708493232727, 0.13141833245754242, -0.08525978773832321, -1.566147804260254, -0.12264438718557358, 1.7038605213165283, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8855955004692078, 0.10776684433221817, -0.07343403995037079, 1.5978103876113892, 0.17223620414733887, -1.5909438133239746, -0.0, 0.0, 0.8016708493232727, 0.13141833245754242, -0.08525978773832321, -1.566147804260254, -0.12264438718557358, 1.7019531726837158, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8852140307426453, 0.10776684433221817, -0.07343403995037079, 1.5978103876113892, 0.17185473442077637, -1.5909438133239746, -0.0, 0.0, 0.8016708493232727, 0.13141833245754242, -0.08525978773832321, -1.566529393196106, -0.12264438718557358, 1.7019531726837158, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.10776684433221817, -0.07381551712751389, 1.5978103876113892, 0.17185473442077637, -1.5909438133239746, -0.0, 0.0, 0.8016708493232727, 0.13103684782981873, -0.08525978773832321, -1.566529393196106, -0.12264438718557358, 1.7019531726837158, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8848325610160828, 0.10776684433221817, -0.07381551712751389, 1.5978103876113892, 0.17185473442077637, -1.5909438133239746, -0.0, 0.0, 0.8016708493232727, 0.13103684782981873, -0.08525978773832321, -1.566529393196106, -0.12226291000843048, 1.7019531726837158, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}
diff --git a/rc-table30-v2__rc-dos-w1/000049/meta.json b/rc-table30-v2__rc-dos-w1/000049/meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..72296f3559da592a0d36446e05258d1b4203febf
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000049/meta.json
@@ -0,0 +1,135 @@
+{
+ "format_version": 8,
+ "prompt": "Sort and organize the cosmetics on the table.",
+ "mjcf_path": "mjcf/dos-w1_no_mesh.xml",
+ "cameras": [
+ "global",
+ "left_wrist",
+ "right_wrist"
+ ],
+ "end_effectors": [
+ {
+ "object_type": "body",
+ "object_name": "left_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ },
+ {
+ "object_type": "body",
+ "object_name": "right_end_link",
+ "radius_mode": "pad_pair",
+ "pad_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "sh_correction": [
+ [
+ 0.0,
+ 1.0,
+ 0.0
+ ],
+ [
+ -1.0,
+ 0.0,
+ 0.0
+ ],
+ [
+ 0.0,
+ 0.0,
+ 1.0
+ ]
+ ]
+ }
+ ],
+ "skeleton": {
+ "mode": "chains",
+ "chains": [
+ [
+ "left_base_link",
+ "left_link1",
+ "left_link2",
+ "left_link3",
+ "left_link4",
+ "left_link5",
+ "left_link6",
+ "left_eef_base_link",
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ [
+ "right_base_link",
+ "right_link1",
+ "right_link2",
+ "right_link3",
+ "right_link4",
+ "right_link5",
+ "right_link6",
+ "right_eef_base_link",
+ "right_eef_link1",
+ "right_eef_link2"
+ ]
+ ],
+ "skip_bodies": [],
+ "gripper_keypoint_overrides": [
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "left_end_link",
+ "finger_bodies": [
+ "left_eef_link1",
+ "left_eef_link2"
+ ],
+ "closing_axis": 1
+ },
+ {
+ "ee_object_type": "body",
+ "ee_object_name": "right_end_link",
+ "finger_bodies": [
+ "right_eef_link1",
+ "right_eef_link2"
+ ],
+ "closing_axis": 1
+ }
+ ]
+ },
+ "height": 480,
+ "width": 640,
+ "fps": 10.0,
+ "ref_cam_images": {
+ "global": "ref_images/global.png",
+ "left_wrist": "ref_images/left_wrist.png",
+ "right_wrist": "ref_images/right_wrist.png"
+ },
+ "gt_videos": {
+ "global": "gt/global.mp4",
+ "left_wrist": "gt/left_wrist.mp4",
+ "right_wrist": "gt/right_wrist.mp4"
+ },
+ "migrated_from": {
+ "repo_id": "rc-table30-v2/rc-dos-w1",
+ "source_repo_id": "rc-table30-v2/rc-dos-w1",
+ "episode_index": 7229,
+ "start_frame": 0,
+ "source_fps": 30.0,
+ "robot_type": "DOS-W1"
+ }
+}
diff --git a/rc-table30-v2__rc-dos-w1/000049/mjcf/dos-w1_no_mesh.xml b/rc-table30-v2__rc-dos-w1/000049/mjcf/dos-w1_no_mesh.xml
new file mode 100644
index 0000000000000000000000000000000000000000..dce12f1c6cf7ea335b042ac1875a366d0737b7a4
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000049/mjcf/dos-w1_no_mesh.xml
@@ -0,0 +1,145 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/rc-table30-v2__rc-dos-w1/000049/temporal.json b/rc-table30-v2__rc-dos-w1/000049/temporal.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b74eb6149c5dbec63ddcd6e59fd6b713a2eb481
--- /dev/null
+++ b/rc-table30-v2__rc-dos-w1/000049/temporal.json
@@ -0,0 +1 @@
+{"step_qpos": [{"state": [-0.7719157934188843, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08564125746488571, -1.7336156368255615, -4.539007932180539e-06, 4.539007932180539e-06, 0.8947508931159973, -0.05893797054886818, -0.021553369238972664, -1.516174554824829, -0.10929274559020996, 1.5260928869247437, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7719157934188843, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.7336156368255615, -4.539007932180539e-06, 4.539007932180539e-06, 0.8947508931159973, -0.05893797054886818, -0.021553369238972664, -1.516174554824829, -0.10929274559020996, 1.5264743566513062, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7719157934188843, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.8947508931159973, -0.05893797054886818, -0.021553369238972664, -1.516174554824829, -0.10929274559020996, 1.5299077033996582, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7719157934188843, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.8947508931159973, -0.05893797054886818, -0.02079041674733162, -1.516174554824829, -0.10891126841306686, 1.5302891731262207, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7719157934188843, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08525978773832321, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.8947508931159973, -0.059319447726011276, 0.012397955171763897, -1.516174554824829, -0.09517814964056015, 1.5299077033996582, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7719157934188843, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.89131760597229, -0.07763027399778366, 0.10776684433221817, -1.5165560245513916, -0.04100862145423889, 1.5211337804794312, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7719157934188843, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.8562218546867371, -0.15926603972911835, 0.2580682039260864, -1.5180819034576416, 0.13866636157035828, 1.5173189640045166, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.770771324634552, -0.00667582219466567, -0.026131074875593185, 1.5268558263778687, 0.08564125746488571, -1.733234167098999, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7955672740936279, -0.30498969554901123, 0.4327840209007263, -1.5180819034576416, 0.36602577567100525, 1.5280003547668457, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7696269154548645, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.7234683632850647, -0.4819943606853485, 0.5979629158973694, -1.5150301456451416, 0.5743114352226257, 1.5394445657730103, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7688639760017395, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.6303883194923401, -0.6952391862869263, 0.7646677494049072, -1.515411615371704, 0.7917525172233582, 1.576829195022583, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7688639760017395, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5430304408073425, -0.9157320261001587, 0.9081025123596191, -1.518463373184204, 1.0172045230865479, 1.6180285215377808, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7688639760017395, -0.00667582219466567, -0.026131074875593185, 1.5268558263778687, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4850461483001709, -1.0969328880310059, 1.0172045230865479, -1.5188448429107666, 1.177805781364441, 1.6809719800949097, -0.0, 0.0], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7688639760017395, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.46063172817230225, -1.2125200033187866, 1.0858701467514038, -1.516937494277954, 1.2453268766403198, 1.7610818147659302, -7.833624295017216e-06, 7.833624295017216e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7688639760017395, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4522392749786377, -1.3014038801193237, 1.1350804567337036, -1.5173189640045166, 1.2739375829696655, 1.8434805870056152, -0.003466026159003377, 0.003466026159003377], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7688639760017395, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4545281231403351, -1.3715953826904297, 1.1747539043426514, -1.5150301456451416, 1.2747005224227905, 1.9163423776626587, -0.01096694078296423, 0.01096694078296423], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.768482506275177, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.46025025844573975, -1.4295796155929565, 1.2102311849594116, -1.5150301456451416, 1.2594414949417114, 1.9739452600479126, -0.013690480031073093, 0.013690480031073093], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7681010365486145, -0.00667582219466567, -0.026131074875593185, 1.5268558263778687, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4648279547691345, -1.4772640466690063, 1.2418936491012573, -1.5150301456451416, 1.2438009977340698, 2.0113298892974854, -0.013690480031073093, 0.013690480031073093], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7681010365486145, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.4682612419128418, -1.5196079015731812, 1.270504355430603, -1.5150301456451416, 1.2342641353607178, 2.036888599395752, -0.013690480031073093, 0.013690480031073093], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7681010365486145, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4690241813659668, -1.5497443675994873, 1.2914854288101196, -1.5150301456451416, 1.2216753959655762, 2.048332929611206, -0.013690480031073093, 0.013690480031073093], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.767719566822052, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4697871506214142, -1.5737773180007935, 1.3044556379318237, -1.515411615371704, 1.2071794271469116, 2.062066078186035, -0.013690480031073093, 0.013690480031073093], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4701686203479767, -1.5924696922302246, 1.3117036819458008, -1.515411615371704, 1.1957350969314575, 2.0677881240844727, -0.013690480031073093, 0.013690480031073093], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4701686203479767, -1.6088731288909912, 1.3155183792114258, -1.515411615371704, 1.188105583190918, 2.0693140029907227, -0.013690480031073093, 0.013690480031073093], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.4701686203479767, -1.6233692169189453, 1.3170443773269653, -1.515411615371704, 1.183146357536316, 2.0693140029907227, -0.013690480031073093, 0.013690480031073093], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4713130295276642, -1.6348134279251099, 1.3193331956863403, -1.515411615371704, 1.177042841911316, 2.06893253326416, -0.013681457377970219, 0.013681457377970219], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7669565677642822, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4724574685096741, -1.6439688205718994, 1.3204776048660278, -1.515411615371704, 1.1751353740692139, 2.06740665435791, -0.011655908077955246, 0.011655908077955246], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4736018776893616, -1.650835394859314, 1.3212405443191528, -1.515411615371704, 1.1720836162567139, 2.06435489654541, -0.008090701885521412, 0.008090701885521412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.47779813408851624, -1.6538872718811035, 1.3231478929519653, -1.5188448429107666, 1.1728465557098389, 2.062066078186035, -0.008090701885521412, 0.008090701885521412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4850461483001709, -1.6569390296936035, 1.3258183002471924, -1.5199893712997437, 1.1694133281707764, 2.0578699111938477, -0.008090701885521412, 0.008090701885521412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.49305713176727295, -1.6577019691467285, 1.3277256488800049, -1.5188448429107666, 1.1659799814224243, 2.048332929611206, -0.008090701885521412, 0.008090701885521412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.501068115234375, -1.647020697593689, 1.3273441791534424, -1.511215329170227, 1.1705577373504639, 2.030785083770752, -0.008090701885521412, 0.008090701885521412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5045014023780823, -1.6149767637252808, 1.3258183002471924, -1.511215329170227, 1.1678873300552368, 2.0010299682617188, -0.008090701885521412, 0.008090701885521412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.00667582219466567, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5048828721046448, -1.5474555492401123, 1.3025482892990112, -1.516937494277954, 1.1491950750350952, 1.949149250984192, -0.008090701885521412, 0.008090701885521412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5064088106155396, -1.4272907972335815, 1.2335011959075928, -1.5150301456451416, 1.1022735834121704, 1.8701838254928589, -0.008083389140665531, 0.008083389140665531], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.00667582219466567, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4964904189109802, -1.2346456050872803, 1.1057069301605225, -1.5150301456451416, 0.9866865277290344, 1.7748149633407593, -0.008090701885521412, 0.008090701885521412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7665750980377197, -0.00667582219466567, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4659723937511444, -0.9981307983398438, 0.9336614012718201, -1.5142672061920166, 0.8089188933372498, 1.666857361793518, -0.008083389140665531, 0.008083389140665531], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7661936283111572, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.39539939165115356, -0.7852674126625061, 0.7665750980377197, -1.516937494277954, 0.6418325901031494, 1.5817883014678955, -0.008090701885521412, 0.008090701885521412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7661936283111572, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.30193790793418884, -0.6311513185501099, 0.6239032745361328, -1.518463373184204, 0.501068115234375, 1.5196079015731812, -0.008090701885521412, 0.008090701885521412], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7661936283111572, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.22068360447883606, -0.5579079985618591, 0.5220493078231812, -1.518463373184204, 0.39654383063316345, 1.491378664970398, -0.008083389140665531, 0.008083389140665531], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7661936283111572, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.17338064312934875, -0.5403600931167603, 0.4518577754497528, -1.517700433731079, 0.3091859221458435, 1.4803158044815063, -0.008083389140665531, 0.008083389140665531], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7661936283111572, -0.00667582219466567, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.14705882966518402, -0.5586709380149841, 0.4053177833557129, -1.515411615371704, 0.23746852576732635, 1.4730678796768188, -0.008083389140665531, 0.008083389140665531], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7661936283111572, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.1340886503458023, -0.5983443856239319, 0.3759441375732422, -1.515411615371704, 0.19092851877212524, 1.4681086540222168, -0.008083389140665531, 0.008083389140665531], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.12645913660526276, -0.6345845460891724, 0.3606851398944855, -1.5157930850982666, 0.15888457000255585, 1.4654383659362793, -0.0083706583827734, 0.0083706583827734], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.00667582219466567, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.12302586436271667, -0.6540398001670837, 0.3530556261539459, -1.5157930850982666, 0.1329442262649536, 1.4612420797348022, -0.012518000788986683, 0.012518000788986683], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.12073700875043869, -0.6395437717437744, 0.34924086928367615, -1.5157930850982666, 0.13027389347553253, 1.4543755054473877, -0.014945129863917828, 0.014945129863917828], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.7336156368255615, -4.539007932180539e-06, 4.539007932180539e-06, 0.12111848592758179, -0.5758373141288757, 0.3568703830242157, -1.516174554824829, 0.14553292095661163, 1.4448386430740356, -0.014685802161693573, 0.014685802161693573], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.14171816408634186, -0.5121309161186218, 0.3915846347808838, -1.516174554824829, 0.20237277448177338, 1.439497947692871, -0.0052375346422195435, 0.0052375346422195435], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.21839475631713867, -0.49382010102272034, 0.4518577754497528, -1.516174554824829, 0.28820478916168213, 1.434157371520996, -0.0002921106352005154, 0.0002921106352005154], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.3271152675151825, -0.5422675013542175, 0.5331120491027832, -1.516174554824829, 0.36335545778274536, 1.432249903678894, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.00667582219466567, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4201953113079071, -0.6624323129653931, 0.6345845460891724, -1.516174554824829, 0.44651713967323303, 1.4433127641677856, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7658121585845947, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.47703516483306885, -0.8527885675430298, 0.7845044732093811, -1.515411615371704, 0.5815594792366028, 1.4639123678207397, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.506790280342102, -1.0786221027374268, 0.9714275002479553, -1.516174554824829, 0.7818341255187988, 1.4902342557907104, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5220493078231812, -1.283092975616455, 1.1442358493804932, -1.5157930850982666, 0.9847791194915771, 1.5299077033996582, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.533875048160553, -1.435683250427246, 1.2739375829696655, -1.516174554824829, 1.1324101686477661, 1.58865487575531, -9.422883886145428e-05, 9.422883886145428e-05], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5449378490447998, -1.5226596593856812, 1.3464179039001465, -1.516174554824829, 1.205653429031372, 1.6481651067733765, -0.0008188050123862922, 0.0008188050123862922], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5529488325119019, -1.5802624225616455, 1.3860913515090942, -1.5135042667388916, 1.2422751188278198, 1.7092012166976929, -0.004923547618091106, 0.004923547618091106], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5582894682884216, -1.6145952939987183, 1.4070725440979004, -1.4845120906829834, 1.2453268766403198, 1.7507820129394531, -0.007338196970522404, 0.007338196970522404], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5655375123023987, -1.641298532485962, 1.4223315715789795, -1.4574273824691772, 1.2380788326263428, 1.7870222330093384, -0.009428692981600761, 0.009428692981600761], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.7336156368255615, -4.539007932180539e-06, 4.539007932180539e-06, 0.5708781480789185, -1.6649500131607056, 1.4337759017944336, -1.4421683549880981, 1.2335011959075928, 1.8221179246902466, -0.009475549682974815, 0.009475549682974815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5716410875320435, -1.6844053268432617, 1.4459830522537231, -1.435683250427246, 1.2262531518936157, 1.8472952842712402, -0.009475549682974815, 0.009475549682974815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5731670260429382, -1.7019531726837158, 1.4574273824691772, -1.428435206413269, 1.2243458032608032, 1.8656061887741089, -0.009475549682974815, 0.009475549682974815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5743114352226257, -1.7168307304382324, 1.4642938375473022, -1.427672266960144, 1.2228199243545532, 1.8755245208740234, -0.009475549682974815, 0.009475549682974815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5743114352226257, -1.7320897579193115, 1.4719233512878418, -1.426909327507019, 1.2186236381530762, 1.8827725648880005, -0.009475549682974815, 0.009475549682974815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5739299654960632, -1.7488746643066406, 1.483367681503296, -1.424238920211792, 1.2148088216781616, 1.8865872621536255, -0.009475549682974815, 0.009475549682974815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5743114352226257, -1.7652781009674072, 1.4948118925094604, -1.424238920211792, 1.2163348197937012, 1.889639139175415, -0.009475549682974815, 0.009475549682974815], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5739299654960632, -1.7793927192687988, 1.5054932832717896, -1.424238920211792, 1.2190051078796387, 1.8892576694488525, -0.009467734023928642, 0.009467734023928642], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5727855563163757, -1.7900739908218384, 1.512359857559204, -1.424238920211792, 1.2232013940811157, 1.8892576694488525, -0.00843755342066288, 0.00843755342066288], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5708781480789185, -1.796940565109253, 1.5150301456451416, -1.424238920211792, 1.2300678491592407, 1.8858243227005005, -0.005085631739348173, 0.005085631739348173], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.569733738899231, -1.8003737926483154, 1.5180819034576416, -1.421187162399292, 1.2342641353607178, 1.877431869506836, -0.0036514801904559135, 0.0036514801904559135], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5693522691726685, -1.7965590953826904, 1.5218967199325562, -1.424238920211792, 1.2384604215621948, 1.8659876585006714, -0.003635454922914505, 0.003635454922914505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.568970799446106, -1.7595559358596802, 1.5230411291122437, -1.4246203899383545, 1.2312123775482178, 1.8373769521713257, -0.003635454922914505, 0.003635454922914505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5268558263778687, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5666819214820862, -1.6771572828292847, 1.487945318222046, -1.4246203899383545, 1.202601671218872, 1.7816815376281738, -0.003635454922914505, 0.003635454922914505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5582894682884216, -1.5150301456451416, 1.3776988983154297, -1.4238574504852295, 1.107614278793335, 1.6996643543243408, -0.003635454922914505, 0.003635454922914505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.7336156368255615, -4.539007932180539e-06, 4.539007932180539e-06, 0.5300602912902832, -1.281567096710205, 1.189631462097168, -1.4238574504852295, 0.9378576278686523, 1.6092545986175537, -0.003635454922914505, 0.003635454922914505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007057297509163618, -0.026131074875593185, 1.5264743566513062, 0.08602273464202881, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.47627222537994385, -1.0400930643081665, 0.9748607873916626, -1.424238920211792, 0.734149694442749, 1.5413519144058228, -0.003635454922914505, 0.003635454922914505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.39806973934173584, -0.8146410584449768, 0.768482506275177, -1.424238920211792, 0.5292973518371582, 1.489852786064148, -0.003635454922914505, 0.003635454922914505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.3126192092895508, -0.6589990258216858, 0.6132219433784485, -1.424238920211792, 0.37823301553726196, 1.4517052173614502, -0.003635454922914505, 0.003635454922914505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.23937590420246124, -0.5869001150131226, 0.5151827335357666, -1.424238920211792, 0.2912565767765045, 1.435683250427246, -0.003635454922914505, 0.003635454922914505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.19398032128810883, -0.5663004517555237, 0.44613564014434814, -1.4238574504852295, 0.2141985148191452, 1.4215686321258545, -0.003635454922914505, 0.003635454922914505], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.1672770231962204, -0.5766003131866455, 0.4018844962120056, -1.4238574504852295, 0.15468832850456238, 1.4127947092056274, -0.004239036235958338, 0.004239036235958338], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.1527809500694275, -0.5994887948036194, 0.36678874492645264, -1.423475980758667, 0.11615930497646332, 1.405928134918213, -0.004640433005988598, 0.004640433005988598], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.14515145123004913, -0.6288624405860901, 0.34580758213996887, -1.423475980758667, 0.08373387902975082, 1.3990615606307983, -0.006516378838568926, 0.006516378838568926], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7650492191314697, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -1.2464786323107546e-06, 1.2464786323107546e-06, 0.14095520973205566, -0.655947208404541, 0.33321890234947205, -1.4238574504852295, 0.06885633617639542, 1.3902876377105713, -0.0162524301558733, 0.0162524301558733], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.14019227027893066, -0.6525139212608337, 0.3263523280620575, -1.4238574504852295, 0.07000076025724411, 1.3834210634231567, -0.01680680736899376, 0.01680680736899376], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.14362554252147675, -0.5884260535240173, 0.3233005404472351, -1.423475980758667, 0.07839322835206985, 1.3902876377105713, -0.01002932246774435, 0.01002932246774435], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007438773289322853, -0.026131074875593185, 1.5268558263778687, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.18520638346672058, -0.4880979657173157, 0.3213931620121002, -1.423475980758667, 0.08411535620689392, 1.4085984230041504, -0.00028863802435807884, 0.00028863802435807884], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.25539788603782654, -0.4083695709705353, 0.3213931620121002, -1.4238574504852295, 0.0715266615152359, 1.4303425550460815, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.33474478125572205, -0.3744182586669922, 0.3091859221458435, -1.4238574504852295, 0.04634927958250046, 1.4650568962097168, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.41676202416419983, -0.3770885765552521, 0.27027541399002075, -1.423475980758667, -0.022697795182466507, 1.504348874092102, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.007438773289322853, -0.026131074875593185, 1.5264743566513062, 0.08564125746488571, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.4858091175556183, -0.404936283826828, 0.21725031733512878, -1.423475980758667, -0.1329442262649536, 1.5402075052261353, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7646677494049072, -0.010109102353453636, -0.023079270496964455, 1.5264743566513062, 0.08373387902975082, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.536163866519928, -0.44079500436782837, 0.16384375095367432, -1.423475980758667, -0.2569237947463989, 1.5882734060287476, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7608529925346375, -0.013160906732082367, 0.010490577667951584, 1.5264743566513062, 0.05397878959774971, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5651560425758362, -0.464446485042572, 0.12989242374897003, -1.4208056926727295, -0.3370336592197418, 1.6298543214797974, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7364385724067688, -0.039101243019104004, 0.11005569249391556, 1.5264743566513062, -0.071908138692379, -1.7336156368255615, -4.539007932180539e-06, 4.539007932180539e-06, 0.5819409489631653, -0.47550925612449646, 0.11348897218704224, -1.4215686321258545, -0.3744182586669922, 1.655031681060791, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7055390477180481, -0.11463340371847153, 0.2473868876695633, 1.5264743566513062, -0.2637903392314911, -1.7336156368255615, -4.539007932180539e-06, 4.539007932180539e-06, 0.5899519324302673, -0.4804684519767761, 0.10547798871994019, -1.4215686321258545, -0.3778515160083771, 1.6741054058074951, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.689517080783844, -0.23517967760562897, 0.39616236090660095, 1.5268558263778687, -0.4701686203479767, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5956740379333496, -0.482375830411911, 0.10090028494596481, -1.424238920211792, -0.36640727519989014, 1.6821163892745972, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6834134459495544, -0.4056992530822754, 0.5582894682884216, 1.5260928869247437, -0.7036316394805908, -1.7336156368255615, -4.539007932180539e-06, 4.539007932180539e-06, 0.5975814461708069, -0.4839017391204834, 0.09899290651082993, -1.4238574504852295, -0.3538185656070709, 1.6847867965698242, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6834134459495544, -0.5758373141288757, 0.699053943157196, 1.508926510810852, -0.9172579646110535, -1.733234167098999, -4.539007932180539e-06, 4.539007932180539e-06, 0.5998703241348267, -0.4842832088470459, 0.09899290651082993, -1.424238920211792, -0.33321890234947205, 1.6905088424682617, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6860837936401367, -0.725375771522522, 0.8112077713012695, 1.495193362236023, -1.0973143577575684, -1.7336156368255615, -7.833624295017216e-06, 7.833624295017216e-06, 0.5998703241348267, -0.4842832088470459, 0.09899290651082993, -1.424238920211792, -0.3213931620121002, 1.6958495378494263, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.691805899143219, -0.8432517051696777, 0.8989471197128296, 1.487945318222046, -1.2293049097061157, -1.7336156368255615, -0.0034765347372740507, 0.0034765347372740507, 0.5998703241348267, -0.4842832088470459, 0.09899290651082993, -1.424238920211792, -0.3110933005809784, 1.6958495378494263, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7013428211212158, -0.9328984618186951, 0.9676127433776855, 1.482604742050171, -1.3170443773269653, -1.7336156368255615, -0.01469503901898861, 0.01469503901898861, 0.5998703241348267, -0.4842832088470459, 0.09975585341453552, -1.424238920211792, -0.3061341345310211, 1.6981383562088013, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7108796834945679, -1.0034713745117188, 1.0240710973739624, 1.4795528650283813, -1.3849469423294067, -1.7336156368255615, -0.02338782511651516, 0.02338782511651516, 0.5998703241348267, -0.4842832088470459, 0.10013733059167862, -1.4238574504852295, -0.30270084738731384, 1.6992828845977783, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7181277275085449, -1.0553520917892456, 1.0706111192703247, 1.4761196374893188, -1.4272907972335815, -1.7336156368255615, -0.026521677151322365, 0.026521677151322365, 0.5998703241348267, -0.4842832088470459, 0.10051880776882172, -1.424238920211792, -0.2962157726287842, 1.6992828845977783, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.725375771522522, -1.0957884788513184, 1.110666036605835, 1.4703974723815918, -1.4509422779083252, -1.7336156368255615, -0.027041560038924217, 0.027041560038924217, 0.5998703241348267, -0.4842832088470459, 0.10128175467252731, -1.424238920211792, -0.2962157726287842, 1.6992828845977783, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7299534678459167, -1.1301213502883911, 1.1404211521148682, 1.4688715934753418, -1.4677271842956543, -1.7336156368255615, -0.027041560038924217, 0.027041560038924217, 0.5998703241348267, -0.4842832088470459, 0.10128175467252731, -1.424238920211792, -0.2958342730998993, 1.7000458240509033, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7288090586662292, -1.1621652841567993, 1.1610208749771118, 1.4692530632019043, -1.4711604118347168, -1.733234167098999, -0.027041560038924217, 0.027041560038924217, 0.5998703241348267, -0.4842832088470459, 0.10128175467252731, -1.424238920211792, -0.2946898639202118, 1.7030975818634033, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7234683632850647, -1.190394401550293, 1.1720836162567139, 1.4681086540222168, -1.4768825769424438, -1.733234167098999, -0.027041560038924217, 0.027041560038924217, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.2924010157585144, 1.7030975818634033, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7181277275085449, -1.2163348197937012, 1.1812390089035034, 1.4665827751159668, -1.482604742050171, -1.733234167098999, -0.027041560038924217, 0.027041560038924217, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.2924010157585144, 1.7065308094024658, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7146944403648376, -1.2392233610153198, 1.188105583190918, 1.4662013053894043, -1.482604742050171, -1.7336156368255615, -0.027041560038924217, 0.027041560038924217, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.2920195460319519, 1.7065308094024658, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7127870321273804, -1.258297085762024, 1.1942092180252075, 1.4665827751159668, -1.4829862117767334, -1.733234167098999, -0.027041560038924217, 0.027041560038924217, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.2912565767765045, 1.7072938680648804, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7127870321273804, -1.2739375829696655, 1.198405385017395, 1.4665827751159668, -1.482604742050171, -1.733234167098999, -0.027041560038924217, 0.027041560038924217, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.290875107049942, 1.7103456258773804, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7135500311851501, -1.2865263223648071, 1.200312852859497, 1.4665827751159668, -1.483367681503296, -1.733234167098999, -0.027041560038924217, 0.027041560038924217, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.290875107049942, 1.7103456258773804, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7150759100914001, -1.2998778820037842, 1.2014572620391846, 1.4665827751159668, -1.483367681503296, -1.733234167098999, -0.027041560038924217, 0.027041560038924217, 0.5998703241348267, -0.4839017391204834, 0.10166323184967041, -1.424238920211792, -0.290875107049942, 1.7103456258773804, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7177462577819824, -1.3151369094848633, 1.2014572620391846, 1.4665827751159668, -1.482604742050171, -1.733234167098999, -0.027031969279050827, 0.027031969279050827, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.290875107049942, 1.7107270956039429, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7211795449256897, -1.3281071186065674, 1.198405385017395, 1.4665827751159668, -1.481078863143921, -1.733234167098999, -0.026849478483200073, 0.026849478483200073, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.290875107049942, 1.7107270956039429, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7215610146522522, -1.3368810415267944, 1.1942092180252075, 1.4669642448425293, -1.4776455163955688, -1.733234167098999, -0.022601813077926636, 0.022601813077926636, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.290875107049942, 1.7107270956039429, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7230868935585022, -1.340695858001709, 1.190394401550293, 1.4703974723815918, -1.4799343347549438, -1.733234167098999, -0.015948692336678505, 0.015948692336678505, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.290875107049942, 1.7111085653305054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7234683632850647, -1.3410773277282715, 1.1861982345581055, 1.4688715934753418, -1.4780269861221313, -1.733234167098999, -0.015383568592369556, 0.015383568592369556, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.2912565767765045, 1.7111085653305054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7230868935585022, -1.338025450706482, 1.182383418083191, 1.4673457145690918, -1.4772640466690063, -1.733234167098999, -0.015383568592369556, 0.015383568592369556, 0.5998703241348267, -0.4842832088470459, 0.10204470902681351, -1.4238574504852295, -0.291638046503067, 1.7111085653305054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7234683632850647, -1.3269627094268799, 1.1797131299972534, 1.4673457145690918, -1.4742122888565063, -1.733234167098999, -0.015364833176136017, 0.015364833176136017, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.291638046503067, 1.7111085653305054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7227054238319397, -1.2960631847381592, 1.1949721574783325, 1.4650568962097168, -1.4875638484954834, -1.733234167098999, -0.015346105210483074, 0.015346105210483074, 0.5998703241348267, -0.4842832088470459, 0.10204470902681351, -1.424238920211792, -0.291638046503067, 1.7107270956039429, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7093538045883179, -1.2502861022949219, 1.2296863794326782, 1.4631494283676147, -1.5260928869247437, -1.733234167098999, -0.01530866976827383, 0.01530866976827383, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.2912565767765045, 1.7107270956039429, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6727321147918701, -1.196879506111145, 1.280041217803955, 1.4627679586410522, -1.58255136013031, -1.733234167098999, -0.015252567827701569, 0.015252567827701569, 0.5998703241348267, -0.4842832088470459, 0.10204470902681351, -1.4238574504852295, -0.290875107049942, 1.7107270956039429, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5987258553504944, -1.1404211521148682, 1.3296329975128174, 1.4635308980941772, -1.641298532485962, -1.733234167098999, -0.015252567827701569, 0.015252567827701569, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.2904936373233795, 1.7107270956039429, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.49000534415245056, -1.0889219045639038, 1.3670176267623901, 1.4684901237487793, -1.6908903121948242, -1.733234167098999, -0.015252567827701569, 0.015252567827701569, 0.5998703241348267, -0.4842832088470459, 0.10166323184967041, -1.4238574504852295, -0.290112167596817, 1.7107270956039429, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.36488136649131775, -1.048485517501831, 1.3818951845169067, 1.4703974723815918, -1.725223183631897, -1.733234167098999, -0.015252567827701569, 0.015252567827701569, 0.5998703241348267, -0.4846646785736084, 0.10166323184967041, -1.4238574504852295, -0.290112167596817, 1.7111085653305054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24166475236415863, -1.0210193395614624, 1.3845654726028442, 1.4700160026550293, -1.7439154386520386, -1.733234167098999, -0.015252567827701569, 0.015252567827701569, 0.5998703241348267, -0.4846646785736084, 0.10166323184967041, -1.4238574504852295, -0.290112167596817, 1.7141603231430054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12874799966812134, -1.0126268863677979, 1.3719768524169922, 1.4692530632019043, -1.7545968294143677, -1.733234167098999, -0.015252567827701569, 0.015252567827701569, 0.5998703241348267, -0.4846646785736084, 0.10166323184967041, -1.4238574504852295, -0.290112167596817, 1.7141603231430054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.03185320645570755, -1.0233081579208374, 1.3319218158721924, 1.4707789421081543, -1.7553597688674927, -1.733234167098999, -0.015252567827701569, 0.015252567827701569, 0.5998703241348267, -0.4846646785736084, 0.10204470902681351, -1.4238574504852295, -0.290112167596817, 1.7141603231430054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.023079270496964455, -1.0393301248550415, 1.2724117040634155, 1.4894713163375854, -1.7351415157318115, -1.7336156368255615, -0.015252567827701569, 0.015252567827701569, 0.5998703241348267, -0.4846646785736084, 0.10204470902681351, -1.4238574504852295, -0.2904936373233795, 1.7141603231430054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.05893797054886818, -1.0587854385375977, 1.2037460803985596, 1.5047303438186646, -1.6756312847137451, -1.7336156368255615, -0.015243222936987877, 0.015243222936987877, 0.5998703241348267, -0.4846646785736084, 0.10204470902681351, -1.4238574504852295, -0.2904936373233795, 1.7141603231430054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.07801175117492676, -1.0774776935577393, 1.1408026218414307, 1.5165560245513916, -1.6168841123580933, -1.733234167098999, -0.015243222936987877, 0.015243222936987877, 0.5998703241348267, -0.4850461483001709, 0.1028076633810997, -1.4238574504852295, -0.2912565767765045, 1.7141603231430054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08564125746488571, -1.0900664329528809, 1.0942625999450684, 1.5157930850982666, -1.5676738023757935, -1.733234167098999, -0.015243222936987877, 0.015243222936987877, 0.5998703241348267, -0.4850461483001709, 0.1028076633810997, -1.4238574504852295, -0.2912565767765045, 1.7141603231430054, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08983749151229858, -1.0954070091247559, 1.0671778917312622, 1.5226596593856812, -1.5321965217590332, -1.733234167098999, -0.01575966738164425, 0.01575966738164425, 0.5998703241348267, -0.4854276478290558, 0.1028076633810997, -1.4238574504852295, -0.2912565767765045, 1.7145417928695679, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.08907453715801239, -1.0893033742904663, 1.0561150312423706, 1.5234225988388062, -1.5119783878326416, -1.733234167098999, -0.020550310611724854, 0.020550310611724854, 0.5998703241348267, -0.4858091175556183, 0.1035706102848053, -1.4238574504852295, -0.2912565767765045, 1.7145417928695679, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.0707637146115303, -1.0679408311843872, 1.0610742568969727, 1.5264743566513062, -1.500152587890625, -1.733234167098999, -0.025068849325180054, 0.025068849325180054, 0.5998703241348267, -0.4861905872821808, 0.1035706102848053, -1.4238574504852295, -0.2912565767765045, 1.7145417928695679, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [0.03299763426184654, -1.0442893505096436, 1.0828183889389038, 1.5268558263778687, -1.495956301689148, -1.7336156368255615, -0.025598132982850075, 0.025598132982850075, 0.5998703241348267, -0.4869535267353058, 0.1035706102848053, -1.4238574504852295, -0.2912565767765045, 1.7153048515319824, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.030708782374858856, -1.0328450202941895, 1.118677020072937, 1.5306706428527832, -1.5070191621780396, -1.733234167098999, -0.011886350810527802, 0.011886350810527802, 0.5998703241348267, -0.4869535267353058, 0.1035706102848053, -1.4238574504852295, -0.290875107049942, 1.7175936698913574, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.13790340721607208, -1.0385671854019165, 1.1678873300552368, 1.5299077033996582, -1.5260928869247437, -1.7336156368255615, -0.0005733110010623932, 0.0005733110010623932, 0.5998703241348267, -0.4873350262641907, 0.1035706102848053, -1.4238574504852295, -0.2912565767765045, 1.7175936698913574, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.2595941126346588, -1.0725184679031372, 1.2308309078216553, 1.5260928869247437, -1.5367742776870728, -1.733234167098999, -6.416223186533898e-05, 6.416223186533898e-05, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2912565767765045, 1.71797513961792, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3736552894115448, -1.128213882446289, 1.3097963333129883, 1.5257114171981812, -1.5398260354995728, -1.7336156368255615, -6.416223186533898e-05, 6.416223186533898e-05, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.290875107049942, 1.718738079071045, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4674982726573944, -1.1934462785720825, 1.3967727422714233, 1.5257114171981812, -1.5417333841323853, -1.733234167098999, -6.416223186533898e-05, 6.416223186533898e-05, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2912565767765045, 1.721789836883545, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5365453362464905, -1.2644007205963135, 1.4780269861221313, 1.5253299474716187, -1.5447852611541748, -1.733234167098999, -6.416223186533898e-05, 6.416223186533898e-05, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2912565767765045, 1.721789836883545, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.576218843460083, -1.3403143882751465, 1.5470740795135498, 1.5226596593856812, -1.5447852611541748, -1.733234167098999, -6.416223186533898e-05, 6.416223186533898e-05, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.721789836883545, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5910963416099548, -1.413939118385315, 1.5955214500427246, 1.5230411291122437, -1.5447852611541748, -1.733234167098999, -6.416223186533898e-05, 6.416223186533898e-05, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.721789836883545, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5933852195739746, -1.4803158044815063, 1.6210802793502808, 1.5226596593856812, -1.5447852611541748, -1.733234167098999, -6.416223186533898e-05, 6.416223186533898e-05, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5857557058334351, -1.5379186868667603, 1.6351948976516724, 1.5196079015731812, -1.5447852611541748, -1.733234167098999, -6.416223186533898e-05, 6.416223186533898e-05, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5746929049491882, -1.5867475271224976, 1.6424429416656494, 1.5222781896591187, -1.5447852611541748, -1.733234167098999, -6.416223186533898e-05, 6.416223186533898e-05, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5716410875320435, -1.6264209747314453, 1.6466392278671265, 1.5218967199325562, -1.5451667308807373, -1.733234167098999, -0.00590760912746191, 0.00590760912746191, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.72255277633667, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5685893297195435, -1.6561760902404785, 1.6496909856796265, 1.518463373184204, -1.5447852611541748, -1.733234167098999, -0.028583474457263947, 0.028583474457263947, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.725223183631897, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5663004517555237, -1.6809719800949097, 1.655794620513916, 1.5188448429107666, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.725223183631897, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5647745728492737, -1.7038605213165283, 1.667620301246643, 1.5188448429107666, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.4877164959907532, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.725223183631897, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5651560425758362, -1.723697304725647, 1.6821163892745972, 1.5188448429107666, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.4880979657173157, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.725223183631897, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5651560425758362, -1.743533968925476, 1.6939421892166138, 1.5188448429107666, -1.5444037914276123, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.4880979657173157, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5651560425758362, -1.7618448734283447, 1.7011902332305908, 1.519226312637329, -1.5444037914276123, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.4884794354438782, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.725986123085022, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5651560425758362, -1.7732890844345093, 1.7057678699493408, 1.519226312637329, -1.5444037914276123, -1.7336156368255615, -0.034, 0.034, 0.5998703241348267, -0.4888609051704407, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.7263675928115845, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5651560425758362, -1.7828259468078613, 1.7076753377914429, 1.519226312637329, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.4892423748970032, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.7286564111709595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5640115737915039, -1.7889295816421509, 1.7084382772445679, 1.5199893712997437, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49000534415245056, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5609598159790039, -1.7927442789077759, 1.7084382772445679, 1.5230411291122437, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49038681387901306, 0.1035706102848053, -1.4238574504852295, -0.2920195460319519, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5586709380149841, -1.7950332164764404, 1.7084382772445679, 1.5264743566513062, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49153125286102295, 0.1035706102848053, -1.4238574504852295, -0.2924010157585144, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5563820600509644, -1.7973220348358154, 1.7084382772445679, 1.5264743566513062, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49229419231414795, 0.1035706102848053, -1.4238574504852295, -0.2931639552116394, 1.7286564111709595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5548561811447144, -1.8003737926483154, 1.7080568075180054, 1.5264743566513062, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49267566204071045, 0.1039520874619484, -1.4238574504852295, -0.2943083941936493, 1.7286564111709595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5548561811447144, -1.803425669670105, 1.7080568075180054, 1.5264743566513062, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49343863129615784, 0.1039520874619484, -1.4238574504852295, -0.2954528033733368, 1.7286564111709595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5548561811447144, -1.806477427482605, 1.7080568075180054, 1.5268558263778687, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49343863129615784, 0.1039520874619484, -1.4238574504852295, -0.2954528033733368, 1.7286564111709595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5544747114181519, -1.809910774230957, 1.7076753377914429, 1.5268558263778687, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49382010102272034, 0.1039520874619484, -1.4238574504852295, -0.2954528033733368, 1.728274941444397, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5540932416915894, -1.8125810623168945, 1.7076753377914429, 1.5268558263778687, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49420157074928284, 0.1039520874619484, -1.4238574504852295, -0.2954528033733368, 1.727512001991272, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5540932416915894, -1.814488410949707, 1.7065308094024658, 1.5268558263778687, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49420157074928284, 0.1039520874619484, -1.4238574504852295, -0.2954528033733368, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5537117719650269, -1.8167773485183716, 1.6989012956619263, 1.5272372961044312, -1.5451667308807373, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49458304047584534, 0.1039520874619484, -1.4238574504852295, -0.2958342730998993, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5525673031806946, -1.8175402879714966, 1.6893644332885742, 1.5272372961044312, -1.5451667308807373, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49458304047584534, 0.1039520874619484, -1.4238574504852295, -0.2958342730998993, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5518043637275696, -1.8175402879714966, 1.6840238571166992, 1.5272372961044312, -1.5447852611541748, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49496451020240784, 0.1039520874619484, -1.4238574504852295, -0.2958342730998993, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5518043637275696, -1.8175402879714966, 1.6805905103683472, 1.5272372961044312, -1.5440223217010498, -1.733234167098999, -0.034, 0.034, 0.5998703241348267, -0.49496451020240784, 0.10433356463909149, -1.4238574504852295, -0.2958342730998993, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5521858334541321, -1.818684697151184, 1.6783016920089722, 1.5272372961044312, -1.5386816263198853, -1.733234167098999, -0.029523583129048347, 0.029523583129048347, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2962157726287842, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5552376508712769, -1.8198291063308716, 1.6779202222824097, 1.5272372961044312, -1.5371557474136353, -1.733234167098999, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2962157726287842, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5571450591087341, -1.820210576057434, 1.6771572828292847, 1.5299077033996582, -1.5352483987808228, -1.7336156368255615, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2965972423553467, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5613412857055664, -1.814488410949707, 1.6752498149871826, 1.5314335823059082, -1.5280003547668457, -1.7336156368255615, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2965972423553467, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5636301040649414, -1.7828259468078613, 1.6763943433761597, 1.5295262336730957, -1.5253299474716187, -1.7336156368255615, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2965972423553467, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5613412857055664, -1.732471227645874, 1.6756312847137451, 1.5264743566513062, -1.5466926097869873, -1.7336156368255615, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2965972423553467, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5537117719650269, -1.658846378326416, 1.6763943433761597, 1.5268558263778687, -1.5867475271224976, -1.7336156368255615, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2965972423553467, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.541886031627655, -1.5699626207351685, 1.6763943433761597, 1.5260928869247437, -1.6401541233062744, -1.7336156368255615, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2965972423553467, 1.725223183631897, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5163271427154541, -1.4696345329284668, 1.6634241342544556, 1.5257114171981812, -1.6977568864822388, -1.733234167098999, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2965972423553467, 1.7248417139053345, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4690241813659668, -1.3689249753952026, 1.6348134279251099, 1.5260928869247437, -1.7313268184661865, -1.733234167098999, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2965972423553467, 1.7240787744522095, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4015030264854431, -1.2865263223648071, 1.5875104665756226, 1.5260928869247437, -1.7416266202926636, -1.733234167098999, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2965972423553467, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.31986725330352783, -1.2281605005264282, 1.510452389717102, 1.5272372961044312, -1.7580300569534302, -1.733234167098999, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2969787120819092, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23746852576732635, -1.1812390089035034, 1.3971542119979858, 1.5321965217590332, -1.7271305322647095, -1.733234167098999, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2969787120819092, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1836804747581482, -1.1480506658554077, 1.2895780801773071, 1.5302891731262207, -1.666857361793518, -1.733234167098999, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2969787120819092, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.152399480342865, -1.1312657594680786, 1.205653429031372, 1.5291447639465332, -1.6035324335098267, -1.733234167098999, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2973601818084717, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1340886503458023, -1.126688003540039, 1.1503394842147827, 1.5295262336730957, -1.5482184886932373, -1.733234167098999, -0.029541801661252975, 0.029541801661252975, 0.5998703241348267, -0.4953460097312927, 0.10471503436565399, -1.4238574504852295, -0.2973601818084717, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12836651504039764, -1.128213882446289, 1.1205843687057495, 1.5257114171981812, -1.516174554824829, -1.733234167098999, -0.03029000759124756, 0.03029000759124756, 0.5998703241348267, -0.4957274794578552, 0.10471503436565399, -1.4238574504852295, -0.2973601818084717, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.12722209095954895, -1.1289769411087036, 1.10685133934021, 1.5260928869247437, -1.4955748319625854, -1.733234167098999, -0.03317761421203613, 0.03317761421203613, 0.5998703241348267, -0.4957274794578552, 0.10471503436565399, -1.4238574504852295, -0.2973601818084717, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1371404528617859, -1.1263065338134766, 1.10837721824646, 1.5260928869247437, -1.4887083768844604, -1.7336156368255615, -0.03327304124832153, 0.03327304124832153, 0.5998703241348267, -0.4957274794578552, 0.10471503436565399, -1.4238574504852295, -0.2973601818084717, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.16308079659938812, -1.1255435943603516, 1.1343175172805786, 1.5272372961044312, -1.4940489530563354, -1.733234167098999, -0.02165522240102291, 0.02165522240102291, 0.5998703241348267, -0.4961089491844177, 0.10471503436565399, -1.4238574504852295, -0.2973601818084717, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.22030213475227356, -1.1320286989212036, 1.176279902458191, 1.5268558263778687, -1.5203708410263062, -1.733234167098999, -0.006523058284074068, 0.006523058284074068, 0.5998703241348267, -0.4961089491844177, 0.10509651154279709, -1.4238574504852295, -0.2973601818084717, 1.7221713066101074, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3068970739841461, -1.1476691961288452, 1.2201495170593262, 1.5260928869247437, -1.5352483987808228, -1.7328526973724365, -6.416223186533898e-05, 6.416223186533898e-05, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2973601818084717, 1.72255277633667, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.39921414852142334, -1.180857539176941, 1.2731746435165405, 1.5260928869247437, -1.5459296703338623, -1.7328526973724365, -6.083200787543319e-05, 6.083200787543319e-05, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2973601818084717, 1.72255277633667, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4877164959907532, -1.2270160913467407, 1.333447813987732, 1.5260928869247437, -1.5524147748947144, -1.7328526973724365, -6.083200787543319e-05, 6.083200787543319e-05, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2973601818084717, 1.722934365272522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5613412857055664, -1.2827115058898926, 1.403639316558838, 1.5222781896591187, -1.5535591840744019, -1.733234167098999, -6.083200787543319e-05, 6.083200787543319e-05, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2973601818084717, 1.722934365272522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6094071865081787, -1.348706841468811, 1.4742122888565063, 1.5230411291122437, -1.5535591840744019, -1.7328526973724365, -6.083200787543319e-05, 6.083200787543319e-05, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2973601818084717, 1.7233158349990845, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6456473469734192, -1.419661283493042, 1.519226312637329, 1.5230411291122437, -1.5535591840744019, -1.7328526973724365, -6.083200787543319e-05, 6.083200787543319e-05, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2973601818084717, 1.7233158349990845, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6681544184684753, -1.492141604423523, 1.5352483987808228, 1.5222781896591187, -1.5535591840744019, -1.7328526973724365, -6.083200787543319e-05, 6.083200787543319e-05, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2969787120819092, 1.724460244178772, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6845578551292419, -1.5558480024337769, 1.5363928079605103, 1.5260928869247437, -1.5524147748947144, -1.733234167098999, -6.083200787543319e-05, 6.083200787543319e-05, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2969787120819092, 1.724460244178772, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7063019871711731, -1.5970473289489746, 1.5291447639465332, 1.5222781896591187, -1.505874752998352, -1.733234167098999, -6.083200787543319e-05, 6.083200787543319e-05, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2969787120819092, 1.724460244178772, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7219424843788147, -1.6256580352783203, 1.5230411291122437, 1.519226312637329, -1.4478904008865356, -1.733234167098999, -0.004798893816769123, 0.004798893816769123, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2969787120819092, 1.724460244178772, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7307164072990417, -1.6496909856796265, 1.5196079015731812, 1.5226596593856812, -1.4017318487167358, -1.733234167098999, -0.015131227672100067, 0.015131227672100067, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2965972423553467, 1.7248417139053345, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7368200421333313, -1.6695277690887451, 1.517700433731079, 1.5222781896591187, -1.3750286102294922, -1.733234167098999, -0.018495576456189156, 0.018495576456189156, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2965972423553467, 1.7248417139053345, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7417792081832886, -1.6844053268432617, 1.5108338594436646, 1.5218967199325562, -1.352521538734436, -1.733234167098999, -0.018495576456189156, 0.018495576456189156, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2962157726287842, 1.725223183631897, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7440680265426636, -1.6943236589431763, 1.504348874092102, 1.5222781896591187, -1.3223849534988403, -1.7336156368255615, -0.018495576456189156, 0.018495576456189156, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2962157726287842, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7467383742332458, -1.7042419910430908, 1.5005340576171875, 1.5222781896591187, -1.2964446544647217, -1.733234167098999, -0.018495576456189156, 0.018495576456189156, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2962157726287842, 1.725986123085022, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7486457824707031, -1.7141603231430054, 1.4974822998046875, 1.5218967199325562, -1.2804226875305176, -1.733234167098999, -0.018495576456189156, 0.018495576456189156, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2962157726287842, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7482643127441406, -1.722934365272522, 1.496337890625, 1.5222781896591187, -1.262493371963501, -1.733234167098999, -0.018495576456189156, 0.018495576456189156, 0.5998703241348267, -0.4964904189109802, 0.10509651154279709, -1.4238574504852295, -0.2962157726287842, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7463569045066833, -1.7294193506240845, 1.4955748319625854, 1.5222781896591187, -1.2510490417480469, -1.733234167098999, -0.0184857789427042, 0.0184857789427042, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2962157726287842, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7433050870895386, -1.733997106552124, 1.495193362236023, 1.5222781896591187, -1.2430380582809448, -1.733234167098999, -0.0184857789427042, 0.0184857789427042, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2962157726287842, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7410162687301636, -1.737811803817749, 1.493667483329773, 1.5218967199325562, -1.2403677701950073, -1.733234167098999, -0.01841721124947071, 0.01841721124947071, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2962157726287842, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7387273907661438, -1.7423895597457886, 1.491378664970398, 1.5218967199325562, -1.2376973628997803, -1.733234167098999, -0.017705095931887627, 0.017705095931887627, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2965972423553467, 1.729037880897522, -7.833624295017216e-06, 7.833624295017216e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7379644513130188, -1.7477302551269531, 1.4902342557907104, 1.5218967199325562, -1.2365529537200928, -1.733234167098999, -0.017705095931887627, 0.017705095931887627, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2965972423553467, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7394903302192688, -1.7542153596878052, 1.4894713163375854, 1.5218967199325562, -1.2357900142669678, -1.733234167098999, -0.016682134941220284, 0.016682134941220284, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2965972423553467, 1.7294193506240845, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7417792081832886, -1.7603188753128052, 1.4887083768844604, 1.5218967199325562, -1.2354085445404053, -1.733234167098999, -0.01413503848016262, 0.01413503848016262, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2965972423553467, 1.7294193506240845, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7425421476364136, -1.7645151615142822, 1.4887083768844604, 1.5215152502059937, -1.2331197261810303, -1.733234167098999, -0.011000161990523338, 0.011000161990523338, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2969787120819092, 1.729800820350647, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7444495558738708, -1.7656595706939697, 1.489089846611023, 1.5188448429107666, -1.2327382564544678, -1.7328526973724365, -0.006778985261917114, 0.006778985261917114, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2969787120819092, 1.729800820350647, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7452124953269958, -1.7656595706939697, 1.489089846611023, 1.5188448429107666, -1.2323567867279053, -1.7328526973724365, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2969787120819092, 1.729800820350647, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7440680265426636, -1.7545968294143677, 1.488326907157898, 1.5188448429107666, -1.2323567867279053, -1.7328526973724365, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2969787120819092, 1.729800820350647, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.734912633895874, -1.727512001991272, 1.488326907157898, 1.513885736465454, -1.2323567867279053, -1.733234167098999, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2973601818084717, 1.729800820350647, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7154573798179626, -1.6798275709152222, 1.489089846611023, 1.515411615371704, -1.2323567867279053, -1.7328526973724365, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2977416515350342, 1.729800820350647, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.690280020236969, -1.6149767637252808, 1.489089846611023, 1.514648675918579, -1.2388418912887573, -1.7328526973724365, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2977416515350342, 1.7294193506240845, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6540398001670837, -1.5333409309387207, 1.489089846611023, 1.5150301456451416, -1.2903410196304321, -1.733234167098999, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2977416515350342, 1.7286564111709595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6097886562347412, -1.4505608081817627, 1.489089846611023, 1.514648675918579, -1.3696879148483276, -1.733234167098999, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2977416515350342, 1.728274941444397, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5422675013542175, -1.3578622341156006, 1.4761196374893188, 1.5119783878326416, -1.4692530632019043, -1.733234167098999, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2977416515350342, 1.7248417139053345, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.4709315598011017, -1.2739375829696655, 1.4353017807006836, 1.515411615371704, -1.5280003547668457, -1.733997106552124, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2977416515350342, 1.7248417139053345, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3908216953277588, -1.193827748298645, 1.3712139129638672, 1.513122797012329, -1.578355073928833, -1.734760046005249, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.4964904189109802, 0.10547798871994019, -1.4238574504852295, -0.2977416515350342, 1.7248417139053345, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3091859221458435, -1.1316472291946411, 1.3094148635864258, 1.5157930850982666, -1.6161211729049683, -1.734760046005249, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.4987792670726776, 0.10547798871994019, -1.4238574504852295, -0.29812315106391907, 1.7248417139053345, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.24357213079929352, -1.0839627981185913, 1.2521934509277344, 1.514648675918579, -1.638246774673462, -1.734760046005249, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.5018310546875, 0.10624094307422638, -1.4238574504852295, -0.29888609051704407, 1.725223183631897, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.20771344006061554, -1.0576409101486206, 1.2148088216781616, 1.5150301456451416, -1.651598334312439, -1.734760046005249, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.5052643418312073, 0.10776684433221817, -1.4238574504852295, -0.29888609051704407, 1.7248417139053345, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.18787670135498047, -1.0442893505096436, 1.1907758712768555, 1.514648675918579, -1.6584649085998535, -1.7343785762786865, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.5079346895217896, 0.10852979123592377, -1.4238574504852295, -0.29888609051704407, 1.725223183631897, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.17376211285591125, -1.0370413064956665, 1.1728465557098389, 1.513885736465454, -1.663042664527893, -1.733997106552124, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.509079098701477, 0.10852979123592377, -1.4238574504852295, -0.29888609051704407, 1.725223183631897, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1657511293888092, -1.033989429473877, 1.1499580144882202, 1.514648675918579, -1.664568543434143, -1.733997106552124, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.5094605684280396, 0.10852979123592377, -1.4238574504852295, -0.29888609051704407, 1.725223183631897, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15888457000255585, -1.0385671854019165, 1.1205843687057495, 1.513885736465454, -1.6584649085998535, -1.733234167098999, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.5094605684280396, 0.10852979123592377, -1.4238574504852295, -0.29850462079048157, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.15354390442371368, -1.0473411083221436, 1.0881589651107788, 1.5150301456451416, -1.6409170627593994, -1.7328526973724365, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.5094605684280396, 0.10852979123592377, -1.4238574504852295, -0.29850462079048157, 1.7256046533584595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1493476778268814, -1.0538262128829956, 1.0618371963500977, 1.516174554824829, -1.6081101894378662, -1.7328526973724365, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.5094605684280396, 0.10852979123592377, -1.4238574504852295, -0.2977416515350342, 1.725986123085022, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14476996660232544, -1.057259440422058, 1.0450522899627686, 1.5234225988388062, -1.5714884996414185, -1.7328526973724365, -0.006847016513347626, 0.006847016513347626, 0.5998703241348267, -0.5094605684280396, 0.10891126841306686, -1.4238574504852295, -0.2973601818084717, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14362554252147675, -1.0599298477172852, 1.0362783670425415, 1.5230411291122437, -1.5371557474136353, -1.7328526973724365, -0.008208087645471096, 0.008208087645471096, 0.5998703241348267, -0.5094605684280396, 0.10891126841306686, -1.4238574504852295, -0.2973601818084717, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14286258816719055, -1.0626001358032227, 1.031700611114502, 1.5257114171981812, -1.519226312637329, -1.7328526973724365, -0.019262608140707016, 0.019262608140707016, 0.5998703241348267, -0.5094605684280396, 0.10891126841306686, -1.4238574504852295, -0.2973601818084717, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.14286258816719055, -1.0614557266235352, 1.029411792755127, 1.5264743566513062, -1.5196079015731812, -1.7328526973724365, -0.026983996853232384, 0.026983996853232384, 0.5998703241348267, -0.5094605684280396, 0.10929274559020996, -1.4238574504852295, -0.2973601818084717, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1516365259885788, -1.045433759689331, 1.0290303230285645, 1.5306706428527832, -1.5356298685073853, -1.733234167098999, -0.02471453696489334, 0.02471453696489334, 0.5998703241348267, -0.5094605684280396, 0.10967422276735306, -1.4238574504852295, -0.2973601818084717, 1.729037880897522, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.1848248988389969, -1.0172045230865479, 1.0290303230285645, 1.5302891731262207, -1.5417333841323853, -1.733234167098999, -0.01049794815480709, 0.01049794815480709, 0.5998703241348267, -0.5094605684280396, 0.10967422276735306, -1.4238574504852295, -0.2973601818084717, 1.7286564111709595, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.23403525352478027, -0.9851605892181396, 1.0236896276474, 1.5291447639465332, -1.5459296703338623, -1.733234167098999, -0.00014471952454186976, 0.00014471952454186976, 0.5998703241348267, -0.5094605684280396, 0.10967422276735306, -1.4238574504852295, -0.2973601818084717, 1.727512001991272, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.28667888045310974, -0.9500648379325867, 1.0057603120803833, 1.5257114171981812, -1.5180819034576416, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.5998703241348267, -0.5094605684280396, 0.10967422276735306, -1.4238574504852295, -0.30003052949905396, 1.72102689743042, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.33550775051116943, -0.9035248160362244, 0.9630350470542908, 1.5264743566513062, -1.4501793384552002, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.5998703241348267, -0.5056458115577698, 0.10967422276735306, -1.423475980758667, -0.3114747703075409, 1.7092012166976929, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.3919661343097687, -0.8142595291137695, 0.8768215179443359, 1.5260928869247437, -1.3036926984786987, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.5998703241348267, -0.4732204079627991, 0.11196307092905045, -1.4238574504852295, -0.3244449496269226, 1.6836423873901367, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.45834288001060486, -0.6857023239135742, 0.7558938264846802, 1.5268558263778687, -1.1144808530807495, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.6044480204582214, -0.3778515160083771, 0.1188296303153038, -1.423475980758667, -0.3225375711917877, 1.636720895767212, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.5567635893821716, -0.5270084738731384, 0.6113145351409912, 1.5260928869247437, -0.8768215179443359, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.6162737607955933, -0.25272753834724426, 0.1333257108926773, -1.4238574504852295, -0.26989394426345825, 1.5764477252960205, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.6692988276481628, -0.37823301553726196, 0.47665369510650635, 1.5260928869247437, -0.647936224937439, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.6422140598297119, -0.13065537810325623, 0.14820325374603271, -1.4238574504852295, -0.1844434291124344, 1.5207523107528687, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.776493489742279, -0.25310903787612915, 0.3580147922039032, 1.5260928869247437, -0.4518577754497528, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.691805899143219, -0.02193484455347061, 0.15774014592170715, -1.424238920211792, -0.1031891331076622, 1.4730678796768188, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8611810207366943, -0.15926603972911835, 0.2630273997783661, 1.5260928869247437, -0.3057526648044586, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.7463569045066833, 0.06923781335353851, 0.16193637251853943, -1.424238920211792, -0.039101243019104004, 1.4391164779663086, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9107728600502014, -0.07686731964349747, 0.1813916265964508, 1.5260928869247437, -0.17986571788787842, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.7822155952453613, 0.11959258466959, 0.15964750945568085, -1.424238920211792, 0.012779430486261845, 1.416990876197815, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9233615398406982, -0.016594186425209045, 0.11959258466959, 1.5260928869247437, -0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.7990005612373352, 0.14553292095661163, 0.14057374000549316, -1.4246203899383545, 0.03452353551983833, 1.4127947092056274, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9214541912078857, 0.01735713705420494, 0.08335240930318832, 1.5260928869247437, -0.035667963325977325, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.80663001537323, 0.152399480342865, 0.1035706102848053, -1.424238920211792, 0.016212711110711098, 1.4158464670181274, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.9115357995033264, 0.034142062067985535, 0.06160829961299896, 1.5260928869247437, -0.013923857361078262, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.810826301574707, 0.1508735716342926, 0.06084534898400307, -1.4246203899383545, -0.010490577667951584, 1.4406423568725586, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8909361362457275, 0.04596780240535736, 0.04711223021149635, 1.5260928869247437, -0.0013351644156500697, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.812352180480957, 0.14362554252147675, 0.01888304017484188, -1.424238920211792, -0.04444190114736557, 1.4711604118347168, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8634698987007141, 0.05664911866188049, 0.03490501269698143, 1.5260928869247437, 0.002861066721379757, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.813878059387207, 0.13179980218410492, -0.014686808921396732, -1.424238920211792, -0.0715266615152359, 1.49786376953125, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8306630253791809, 0.06504157930612564, 0.027656977996230125, 1.5260928869247437, 0.009346150793135166, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8142595291137695, 0.11043716967105865, -0.034142062067985535, -1.424238920211792, -0.0883115902543068, 1.507400631904602, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8012893795967102, 0.06961929053068161, 0.023460745811462402, 1.5264743566513062, 0.012397955171763897, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8207446336746216, 0.06847485899925232, -0.043678950518369675, -1.424238920211792, -0.10051880776882172, 1.506637692451477, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7837415337562561, 0.0711451917886734, 0.01926451548933983, 1.5264743566513062, 0.013160906732082367, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.841725766658783, 0.004005493130534887, -0.03147173300385475, -1.424238920211792, -0.10776684433221817, 1.4795528650283813, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7738231420516968, 0.07000076025724411, 0.008201723918318748, 1.5264743566513062, 0.016212711110711098, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8588922023773193, -0.06351567804813385, -0.007057297509163618, -1.424238920211792, -0.10090028494596481, 1.4528496265411377, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7711527943611145, 0.06542305648326874, -0.011635004542768002, 1.5264743566513062, 0.03757534176111221, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8691920638084412, -0.10547798871994019, 0.008964675478637218, -1.424238920211792, -0.09060044586658478, 1.435683250427246, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7845044732093811, 0.056267641484737396, -0.029564354568719864, 1.5264743566513062, 0.057793546468019485, -1.7336156368255615, -3.426579860388301e-05, 3.426579860388301e-05, 0.8737697601318359, -0.12531471252441406, 0.016594186425209045, -1.4238574504852295, -0.08564125746488571, 1.428435206413269, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8073930144309998, 0.04100862145423889, -0.03452353551983833, 1.5264743566513062, 0.07648584991693497, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8775845170021057, -0.1367589831352234, 0.021171892061829567, -1.424238920211792, -0.08335240930318832, 1.418898344039917, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8199816942214966, 0.01583123579621315, -0.031090257689356804, 1.5264743566513062, 0.08411535620689392, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8871213793754578, -0.14248111844062805, 0.023079270496964455, -1.4238574504852295, -0.07953765243291855, 1.4055466651916504, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8279926776885986, -0.028038453310728073, -0.013160906732082367, 1.5264743566513062, 0.08449683338403702, -1.7336156368255615, -3.426579860388301e-05, 3.426579860388301e-05, 0.8909361362457275, -0.14324407279491425, 0.024605173617601395, -1.4238574504852295, -0.07915617525577545, 1.4021133184432983, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8287556171417236, -0.06084534898400307, 0.0013351644156500697, 1.5264743566513062, 0.07763027399778366, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8939879536628723, -0.14286258816719055, 0.023460745811462402, -1.424238920211792, -0.07915617525577545, 1.4021133184432983, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8119707107543945, -0.07763027399778366, 0.009346150793135166, 1.5264743566513062, 0.0715266615152359, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.13942931592464447, 0.021553369238972664, -1.4238574504852295, -0.07915617525577545, 1.4021133184432983, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7974746227264404, -0.08487831056118011, 0.01201647985726595, 1.5264743566513062, 0.06809338182210922, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.1371404528617859, 0.02040894143283367, -1.4238574504852295, -0.07915617525577545, 1.4032578468322754, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7913710474967957, -0.0883115902543068, 0.013923857361078262, 1.5264743566513062, 0.06656748056411743, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.1363775134086609, 0.020027466118335724, -1.424238920211792, -0.07953765243291855, 1.4063096046447754, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7867932915687561, -0.08983749151229858, 0.01430533267557621, 1.5264743566513062, 0.06275273114442825, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.1359960287809372, 0.019645990803837776, -1.4238574504852295, -0.07991912961006165, 1.4063096046447754, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7856488823890686, -0.09060044586658478, 0.015449759550392628, 1.5264743566513062, 0.06237125024199486, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.1356145590543747, 0.019645990803837776, -1.4238574504852295, -0.07991912961006165, 1.4063096046447754, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7852674126625061, -0.09060044586658478, 0.015449759550392628, 1.5264743566513062, 0.06084534898400307, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.1356145590543747, 0.019645990803837776, -1.4238574504852295, -0.08030059933662415, 1.406691074371338, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.09060044586658478, 0.015449759550392628, 1.5264743566513062, 0.061226826161146164, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.1356145590543747, 0.019645990803837776, -1.424238920211792, -0.08030059933662415, 1.4093613624572754, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.09060044586658478, 0.015449759550392628, 1.5268558263778687, 0.061226826161146164, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.1356145590543747, 0.019645990803837776, -1.4238574504852295, -0.08030059933662415, 1.4093613624572754, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.09060044586658478, 0.015449759550392628, 1.5264743566513062, 0.061226826161146164, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.1356145590543747, 0.019645990803837776, -1.4238574504852295, -0.08030059933662415, 1.4093613624572754, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.09060044586658478, 0.015449759550392628, 1.5264743566513062, 0.061226826161146164, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.1356145590543747, 0.019645990803837776, -1.4238574504852295, -0.08373387902975082, 1.410887360572815, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7848859429359436, -0.09060044586658478, 0.015449759550392628, 1.5264743566513062, 0.06084534898400307, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01926451548933983, -1.4238574504852295, -0.08373387902975082, 1.41470205783844, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7856488823890686, -0.09060044586658478, 0.015449759550392628, 1.5264743566513062, 0.061226826161146164, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.135233074426651, 0.01926451548933983, -1.4238574504852295, -0.08411535620689392, 1.41775381565094, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.7993820309638977, -0.09174486994743347, 0.016212711110711098, 1.5268558263778687, 0.06084534898400307, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01926451548933983, -1.4238574504852295, -0.08487831056118011, 1.4185168743133545, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8184558153152466, -0.09212634712457657, 0.016212711110711098, 1.5268558263778687, 0.06084534898400307, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01926451548933983, -1.424238920211792, -0.08525978773832321, 1.421187162399292, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8253223299980164, -0.08907453715801239, 0.014686808921396732, 1.5268558263778687, 0.061226826161146164, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01926451548933983, -1.4238574504852295, -0.08525978773832321, 1.421187162399292, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8260852694511414, -0.0711451917886734, 0.00476844422519207, 1.5402075052261353, 0.06809338182210922, -1.733997106552124, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01926451548933983, -1.4238574504852295, -0.08525978773832321, 1.421187162399292, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.812352180480957, -0.04634927958250046, -0.007057297509163618, 1.6050583124160767, 0.07686731964349747, -1.733997106552124, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08525978773832321, 1.421187162399292, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8142595291137695, -0.03376058489084244, -0.013923857361078262, 1.6062028408050537, 0.07953765243291855, -1.7343785762786865, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08525978773832321, 1.421187162399292, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8279926776885986, -0.03147173300385475, -0.01583123579621315, 1.5821698904037476, 0.08335240930318832, -1.7343785762786865, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.4215686321258545, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8337147831916809, -0.029564354568719864, -0.01735713705420494, 1.5756847858428955, 0.08411535620689392, -1.733997106552124, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08525978773832321, 1.4215686321258545, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8375295400619507, -0.02689402550458908, -0.01888304017484188, 1.576066255569458, 0.0875486359000206, -1.733997106552124, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.4215686321258545, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8390554785728455, -0.024986648932099342, -0.019645990803837776, 1.5787365436553955, 0.0875486359000206, -1.733997106552124, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.421950101852417, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -0.023079270496964455, -0.020027466118335724, 1.5794994831085205, 0.0879301130771637, -1.733997106552124, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.421950101852417, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -0.023079270496964455, -0.020027466118335724, 1.579880952835083, 0.0879301130771637, -1.733997106552124, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.422713041305542, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8405813574790955, -0.023079270496964455, -0.020027466118335724, 1.579880952835083, 0.0879301130771637, -1.733997106552124, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08525978773832321, 1.4230945110321045, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8398184180259705, -0.023079270496964455, -0.020027466118335724, 1.5810253620147705, 0.0879301130771637, -1.733997106552124, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.424238920211792, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8382925391197205, -0.023079270496964455, -0.020027466118335724, 1.5829328298568726, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.424238920211792, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8375295400619507, -0.023079270496964455, -0.020027466118335724, 1.5829328298568726, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08525978773832321, 1.424238920211792, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8375295400619507, -0.023079270496964455, -0.020027466118335724, 1.5829328298568726, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.424238920211792, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8371480703353882, -0.023079270496964455, -0.020027466118335724, 1.5829328298568726, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.424238920211792, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8371480703353882, -0.023079270496964455, -0.020027466118335724, 1.58255136013031, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.424238920211792, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8371480703353882, -0.023079270496964455, -0.020027466118335724, 1.58255136013031, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.4238574504852295, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8371480703353882, -0.023079270496964455, -0.020027466118335724, 1.5821698904037476, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.4238574504852295, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8371480703353882, -0.023079270496964455, -0.020027466118335724, 1.581406831741333, 0.0871671661734581, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.4238574504852295, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8367666006088257, -0.023079270496964455, -0.020027466118335724, 1.5794994831085205, 0.0871671661734581, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.423475980758667, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8363851308822632, -0.023079270496964455, -0.020027466118335724, 1.5794994831085205, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.4230945110321045, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8356221914291382, -0.023079270496964455, -0.020027466118335724, 1.5794994831085205, 0.0871671661734581, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.4230945110321045, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8329518437385559, -0.023079270496964455, -0.020027466118335724, 1.579880952835083, 0.0871671661734581, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.4230945110321045, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8291370868682861, -0.023079270496964455, -0.020027466118335724, 1.579880952835083, 0.0871671661734581, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.4230945110321045, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8253223299980164, -0.023079270496964455, -0.020027466118335724, 1.5802624225616455, 0.0871671661734581, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.4230945110321045, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8230335116386414, -0.023079270496964455, -0.020027466118335724, 1.580643892288208, 0.0871671661734581, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.423475980758667, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8226520419120789, -0.023079270496964455, -0.020027466118335724, 1.5829328298568726, 0.0871671661734581, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.424238920211792, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8218890428543091, -0.023079270496964455, -0.020027466118335724, 1.5829328298568726, 0.0871671661734581, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08564125746488571, 1.427672266960144, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8215075731277466, -0.023079270496964455, -0.020027466118335724, 1.5829328298568726, 0.0871671661734581, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08487831056118011, 1.432249903678894, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8215075731277466, -0.023079270496964455, -0.020027466118335724, 1.5829328298568726, 0.0871671661734581, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8943694233894348, -0.135233074426651, 0.01888304017484188, -1.4238574504852295, -0.08335240930318832, 1.4326313734054565, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8215075731277466, -0.023079270496964455, -0.020027466118335724, 1.58255136013031, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8939879536628723, -0.135233074426651, 0.018501564860343933, -1.4238574504852295, -0.08373387902975082, 1.434157371520996, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8211261034011841, -0.023079270496964455, -0.020027466118335724, 1.58255136013031, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8939879536628723, -0.1325627565383911, 0.013542382046580315, -1.439497947692871, -0.0879301130771637, 1.4559013843536377, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8192187547683716, -0.023079270496964455, -0.020027466118335724, 1.5821698904037476, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8939879536628723, -0.12989242374897003, 0.008964675478637218, -1.4784084558486938, -0.1031891331076622, 1.4837491512298584, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8188372850418091, -0.023079270496964455, -0.020027466118335724, 1.579118013381958, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8943694233894348, -0.12874799966812134, 0.00667582219466567, -1.492141604423523, -0.10967422276735306, 1.495193362236023, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8188372850418091, -0.023079270496964455, -0.020027466118335724, 1.5794994831085205, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.12760357558727264, 0.005149920005351305, -1.5005340576171875, -0.11348897218704224, 1.50244140625, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8180742859840393, -0.023079270496964455, -0.020027466118335724, 1.5794994831085205, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12531471252441406, 0.004005493130534887, -1.504348874092102, -0.11654078215360641, 1.507400631904602, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.5794994831085205, 0.0875486359000206, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12455176562070847, 0.0024795911740511656, -1.507400631904602, -0.11692225188016891, 1.5077821016311646, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.579880952835083, 0.0879301130771637, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12378881871700287, 0.0024795911740511656, -1.5077821016311646, -0.1180666834115982, 1.508926510810852, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.579880952835083, 0.0879301130771637, -1.7336156368255615, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12378881871700287, 0.0024795911740511656, -1.5085450410842896, -0.1180666834115982, 1.5127413272857666, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.5802624225616455, 0.0879301130771637, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12378881871700287, 0.0032425422687083483, -1.511215329170227, -0.11730372905731201, 1.513122797012329, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.5821698904037476, 0.0879301130771637, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12378881871700287, 0.004005493130534887, -1.511215329170227, -0.11615930497646332, 1.514648675918579, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.5829328298568726, 0.0879301130771637, -1.7336156368255615, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12378881871700287, 0.004005493130534887, -1.511215329170227, -0.11310750246047974, 1.514648675918579, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.5829328298568726, 0.0879301130771637, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12378881871700287, 0.004005493130534887, -1.511215329170227, -0.11272602528333664, 1.514648675918579, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.5829328298568726, 0.0879301130771637, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12378881871700287, 0.004005493130534887, -1.511215329170227, -0.11234454810619354, 1.514648675918579, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.58255136013031, 0.0879301130771637, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12378881871700287, 0.004005493130534887, -1.511215329170227, -0.11196307092905045, 1.514648675918579, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.58255136013031, 0.0879301130771637, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8947508931159973, -0.12378881871700287, 0.004005493130534887, -1.511215329170227, -0.11196307092905045, 1.514648675918579, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.5821698904037476, 0.0879301130771637, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12378881871700287, 0.004005493130534887, -1.511215329170227, -0.11158160120248795, 1.514648675918579, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}, {"state": [-0.8176928162574768, -0.023079270496964455, -0.020027466118335724, 1.5821698904037476, 0.0879301130771637, -1.733234167098999, -3.426579860388301e-05, 3.426579860388301e-05, 0.8951323628425598, -0.12378881871700287, 0.004005493130534887, -1.5108338594436646, -0.11158160120248795, 1.514648675918579, -4.539007932180539e-06, 4.539007932180539e-06], "robot2world_transform": [[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]}]}